Exiting Full Screen

So I feel like an absolute tech cretin on this one, but every time I want to leave full screen on an App (Safari, Mail, etc...) I hit the escape key. And of course, this does absolutely nothing...

I looked through the entire Help menu to find any way to exit full screen that don't require me to mouse over to the arrows in the upper right hand side of the screen... Nothing.

Is there any way to get my Mac to recognize that when I hit escape what I want is for it to exit full screen? I tried to find it as an available action in automator, and it just isn't there.

ctrl - cmd - f

I'm not sure I'd want to remap esc to this combination system wide.

1: Thank You

2: After further debate, I would actually rather remap one of the function keys to do it.

System Preferences, Keyboard, Keyboard shortcuts..

actually.. I take that back.. I don't think you can do it in keyboard shortcuts