The comedy will return for its eighth season later this year but Essman admitted that David had originally said there would not be any more episodes.
Essman told New York Magazine: "After every season, Larry says, 'That's it, I'm not doing another season'.
"And then he'll finish editing, and the show will air, and then I'll get a call and he'll say, 'I'm not promising anything, but I am letting you know I'm working on a couple of outlines. But until I get at least eight outlines, I'm not promising. I'm just letting you know I'm working on it'."
Essman continued: "And then another couple of months later I'll get another phone call: 'I'm still not promising anything'. And then finally he'll call me and say, 'Alright, we're doing it'. So, you know, every season he says that [there won't be more] and we're the longest-running series on HBO."
Essman also revealed that she would love to be more like her Curb character Susie Greene.
"I wish I could be that sure of every action I did," she said. "One of the things that works about the show is that we all love our characters and we're all so different from them. I mean, I analyse everything from every which way - I never have the surety that she has. I'll put on 50 outfits before I figure out which one I like."
The new season of Curb Your Enthusiasm, which will feature appearances from Lauren Bowles and Michael J Fox, will premiere on July 10 on HBO.
Watch a preview for the new season of Curb Your Enthusiasm below: