I don't know what model ESC you have and if it supplies power to the receiver. If it does then you need to connect the servo plug to the throttle channel of the receiver , plug the motor into the three leads from the ESC(doesn't matter what motor wire plugs into what esc wire), Also plug your steering servo into the rudder channel.
Power on the transmitter with throttle in the low/off position and then plug the Lipo battery into the heavy red and black leads on the esc.
The motor should sound tones and initialize and the rudder should work.
If the motor is sounding a continuous set of repeating tones then your throttle channel is reversed ....reverse your throttle channel.
If the motor doesn't respond with any tones and your rudder doesn't work then you have an esc that doesn't provide power to the receiver and you will need a BEC /regulator or a 4.8 volt nicad/nimh pack to power the receiver.
Your other problem looks to be a proprietary set of plugs/connectors on that vintage Tower receiver/servo system . I can't tell if the pin spacing will accept the Futaba style servo plug and if the wiring needs to be changed so power,ground and signal are in the correct spots.