If you want to display map and search tools on one page, you will need to place two shortcodes on the page: one is for search and another is for search results on map
1 Shortcode for search
It should include search form layout, required filters and Page ID of the page you place the shortcode to. Page ID can be taken from the page URL
2 Search results on map
Place the shortcode [es_search_map] on the page and you will get all your search results on map.