With ABS on you don't have to worry about locking up the wheels of your car. ABS isn't designed to make your car stop sooner, it's designed so that drivers still have control whilst braking. It pulses the brake so that you can still steer the car. Because, the wheels are still rotating, they will still have an effect when you steer. When the wheels lock, steering has a lesser effect, as your wheels effectively become four rubber feet on which the car sits.

If you do want steering control whilst braking and ABS is off. You can either pulse the braking (cadence braking) or just apply less braking force. You'll find that the car still slows down but without the loss in control.