Welcome to the communities.
I'm not sure what kind of device ID exactly from which point of view you're referring to.
You might be able to get a bit of info from this:
# esxcli system boot device get
Boot Filesystem UUID: 3fb5897a-6f83af93-eaf7-ea855583bd7f
# esxcli hardware bootdevice list
If you have HP servers with the HP ESXi Utilities bundle installed, you can also use the hpbootcfg tool (from the BIOS viewpoint):
# esxcli hpbootcfg show
00 00: Normal Device first, normal boot process