ESP dual boot Windows 10

[thufir]

I've been reading about UEFI:

https://help.ubuntu.com/community/UEFI

and want to dual boot Ubuntu with Windows 10.  So, I'll be creating a 
UEFI-only bootable thumb drive.  The directions say not to format if 
there's already an ESP.


I don't know what they mean with:

"Performing the Installation

Once you've taken care of the preliminaries, you can install Ubuntu 
normally. Aside from the ESP, Ubuntu installed in UEFI mode has no 
special partition requirements, and you need not adjust other 
installation options. Note that in a UEFI-mode installation, Ubuntu will 
not ask you where to install the boot loader. If it does, or if it 
complains about the lack of a BIOS Boot Partition, you've probably 
accidentally booted in BIOS/CSM/legacy mode. "

What does "normally" mean in relation to partitioning?

Do I select "install alongside" or, it looks like, "something else" 
where I'll be prompted to partition the hard drive.  Because it's 
windows 10 I can resize to make room with diskmgmt.msc easily enough.

When adding the root, home and swap partitions, however, how does that 
relate to ESP?



thanks,

Thufir