Hello,
The documentation for epesi user is still work-in-progress. However, as a programmer I can tell you we put a lot of effort to make epesi really intuitive and easy to operate. To create new tasks simply select from Menu "CRM"->"Tasks" and click "New" button you can find on the actionBar, in the upper part of the page.
Perhaps you will find it useful, that distinction between Employee and Customer fields in Tasks is based whether or not contact is assigned to the main company.
Kind regards,
Arek