In this paper, the tribological characteristics of polyethersulfone-based composites reinforced with short carbon fibers (SCFs) at aspect ratios of 14–250 and contents of 10–30 wt.% are reported for linear metal–polymer and ceramic–polymer tribological contacts. The results showed that the wear resistance could be greatly improved through tribological layer formation. Loading PES with 30 wt.% SCFs (2 mm) provided a minimum WR value of 0.77 × 10⁻⁶ mm³/N m. The tribological layer thicknesses were estimated to be equal to 2–7 µm. Several conditions were proposed, which contributed to the formation of a tribological layer from debris, including the three-stage pattern of the changing kinetics of the time dependence of the friction coefficient. The kinetics had to sharply increase up to ~0.4–0.5 in the first (running-in) stage and gradually decrease down to ~0.1–0.2 in the second stage. Then, if these levels did not change, it could be argued that any tribological layer had formed, become fixed and fulfilled its functional role. The PES-based composites loaded with SCFs 2 mm long were characterized by possessing the minimum CoF levels, for which their three-stage changing pattern corresponded to one of the conditions for tribological layer formation. This work provides valuable insight for studying the process parameters of tribological layer formation for SCF-reinforced thermoplastic PES composites and revealing their impact on tribological properties.