Esta is used for a temporary use- For example - "El Hotel esta cerrado" Which means that the hotel is not closed permanently..... It can be opened anytime.....
Whereas in topic of es.... Es is used for a permanent use-
For example-"Ella es una nina"... Which means that the girl will stay for lifetime
Hope it helped you...
Este and esta are for this, there are things that are near of you (they are for masculin and for feminine)
Ese (masculin), esa (feminine) and eso (it is like neutral) are for things that aren't near to you but they aren't far. They are in a middle distance.
Aquel, aquella and aquello (masculin, feminin and neutral) are for things that are far
Sorry if I have made any mistakes, I am not English
"Dónde está" = where is. Está is 3rd person singular of the verb estar. That is the correct form of estar to use when you could substitute "it" (or him or her) as a subject. The book is where? It is where?
Not sure why you would want to use esté since it is the 3rd person subjunctive of estar.
You can look up all the forms of estar at SpanishDict. https://www.spanishdict.com/conjugate/estar