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Yes.
Most surely you have an on_key_press handler in your scene (be it directly in the scene or in a layer added to the scene)
what you want is add in that handler
if symbol == key.ESCAPE:
return True
The return True tells the event dispatcher that the event has been handled and to please do not pass to other handlers. Perfect, the ESC will not reach the code in cocos.director.DefaultHandler, the responsible to call director pop when it sees an ESC.