Utilizing an advanced machine learning algorithm, particularly the Artificial Neural Network (ANN) framework, this study reveals a significant nonlinear and even cyclical relationship between public concern about environmental issues and the ESG performance of Chinese A-share listed companies, covering the period from 2004 to 2020. The findings highlight the effectiveness of the Self-Organizing Map (SOM)-ANN framework in elucidating the empirical relationship between these variables. We contend that robust public monitoring can enhance companies’ ESG initiatives, and we recommend that policymakers implement a series of measures to safeguard and promote public involvement in decision-making processes. Furthermore, our analysis of the combined effects of public concern and various performance metrics on firms’ ESG outcomes indicates that the diversity among firms is crucial for determining the most appropriate level of public participation in their sustainable development efforts. Therefore, managers and policymakers should focus on firm-specific attributes instead of adopting a “one-size-fits-all” approach to maximize the benefits of public engagement.