It was dropped at the same time the Focus was launched and the body and trim styles available at the time were pretty much the same.
It is just a name anyway. The Escort was revised many times and there were at least 4 totally different Escorts.
Manufacturers do like to keep the same name for customer loyalty purposes.
In many countries "Escort" means a "Professional" person who accompanies someone for cash and may provide other personal services so i do not think they will use it again on a car.