See the third post on Page 1 of this topic for all the information on applying for am ESTA. It costs $14 per person for the official site. Some third party sites and some travel agents charge a higher fee.
You should still be fine as long as the date on your ESTA for our return flight hasn't expired, ie your ESTA is still valid. They last 2 years. The inputting of where you're staying isn't mandatory as far as I know.
Your application wouldn't have been accepted if all the relevant information was not input at the time so just because you can't see it on your print out doesn't mean that it isn't on the system.
Just for info, the ESTA only needs to be valid for your entry to the US. It doesn't matter if it expires while you are there. It is an Electronic System for Travel Authorization, not a stay authorisation.
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