The context is clear that the purpose of the riches of God's kindness, forebearance, and patience is that these characteristics would lead man to repentance.
It would seem that whether a person realizes it or not, when they choose to continue to live in their sin after they have become aware of the character of God (ie. His kindness, forebearance, and patience), they not only commit hostile (Rom. 8:7) action against God through their sin but they also show by their actions that they consider God's kindness and patience as a trivial thing that is not worthy to be esteemed, but rather despised or thought lowly of.
The reality is that our sin is hostile action towards God and does create a separation between us and God (Isaiah 59:2) and this is in fact is the reason that apart from the applied atonement of Christ to a man, man is seen as an enemy of God (Romans 5:10).
If man fails to reconize this truth, it makes it very difficult for them to see how their refusal to repent is actually an act of "presumption" towards the creator of the universe. Through repeated sinful behaviors, their heart has grown callous (Ephesian 4:18,19) to the horrific power and consequences that sin has and they don't see their sin as actually being an offense directly towards God. The result of these continual sinful actions are listed in the following verse:
Romans 2:5 But because of your hard and impenitent heart you are storing up wrath for yourself on the day of wrath when God's righteous judgment will be revealed.
One definition from the Oxford Dictionary defines presumption as, "Behavior perceived as arrogant, disrespectful, and transgressing the limits of what is permitted or appropriate".
This definition along with the previous points made can shed some light on how the word 'presume' was chosen in the ESV. In addition, the host of other words that are used to translate in other lectionaries like "to look down on, think little of, despise, show contempt, etc, also serve the purpose of accurately displaying the affront towards God that a man demonstrates when he chooses to 'take advantage' of God's kindness and patience rather than choosing to call on God in repentance.