It actually depends on which drivers are missing. If these are drivers required for the installation itself (e.g. NIC or RAID drivers) then you will need to either go with the HP image or create your own customized one. You can use either the drivers provided on the VMware site or at the HP site and create the image using the Image Builder or - the easy way - http://www.v-front.de/p/esxi-customizer.html
André