From a glance at the picture you posted, my guess is NO. Ask the seller what the PCD on the Miata wheels is, I'm guessing it's 4x114.3, I believe the Esteem is 4x100.
If the PCD is wrong it will not fit, if the PCD matches, you then need to confirm the offset, center hole, whether the wheels are hub centric or lug centric and brake caliper clearance, before going ahead.
93 - 1.3 Suzuki Swift GLX
98 - 1.8 Mitsubishi Pajero iO
98 - 2.0 Suzuki Grand Vitara