HP-compatible printers also respond to Escape sequences, see Printer Command Language (PCL).
Terminals ignore most of the PCL and printers ignore most terminal Escape sequences, except for a few which overlap (for example, Esc E for Full Reset, Esc &dD for underline).
HP terminals end most complex Escape sequences with a capital letter. MPE basically supports only HP terminals, while HP-UX makes an attempt to be terminal-independent through terminfo and curses.