This bill puts a price "on my head" and "the heads of so many disabled people" and older people, the prominent disability rights campaigner, who will get a vote in the Lords, told Today.
Some peers, including Lord Shinkwin, have indicated they will attempt to amend the legislation to introduce more safeguards.
Dame Esther, a prominent supporter of the bill, said she did not "need to teach the House of Lords how to do their job".
"People who are adamantly opposed to this bill - and they have the perfect right to oppose it - will try and stop it going through the Lords."
But she said the duty of peers was to make sure "law is actually created by the elected chamber, which is the House of Commons, who have voted this through".
Even though MPs have approved the bill, peers in the Lords could stop it from becoming law by voting against it or not approving it quickly enough.