After referee Angus Gardner failed to penalise Farrell for his controversial tackle on Esterhuizen in the 84th minute of the Test at Twickenham on Saturday, Erasmus sarcastically implied at the post-match press conference that his team would start doing the same.
Gloucester number eight Ben Morgan has not been considered for the second Autumn International due to injury.
A screengrab of Springbok centre Andre Esterhuizen going through some tackling drills.
Owen Farrell has been cleared to face New Zealand on Saturday after avoiding disciplinary action for his 84th-minute tackle against South Africa.
There was then four successive games with six tries scored - against Australia in Sydney and Auckland, against Argentina in Nelson, and against South Africa in Wellington, despite the latter seeing them on the wrong end of the scoreline. Well, you're going to do it at some stage - you know that, you know that.
"Why is it always the most important game?"
England are looking for their first victory against the All Blacks since December 2012.
"Tom injured his ankle and we don't know how long he'll be. All the data shows that", Jones said.
Jones quipped after the game that the All Blacks probably watched the game at their Teddington hotel "drinking cups of tea, maybe having some scones, saying "oh, we'll take these guys".
"New Zealand's a different kettle of fish to the Springboks", said Jones, Australia's coach when they lost the 2003 World Cup final to England in Sydney and a consultant to the 2007 world champion Springboks.