First off, this is a wonderful topic. Even here in MN where we can have snow and ice on the roads what seems like half of the year, many drivers don't fully understand the whole topic of traction.
In theory, you are threshold braking all day every day by not standing on the gas pedal or brake pedal and not violently whipping the steering wheel left or right. The ABS only comes in to account when you exceed your traction limits.
The ABS is not 100% fool proof.
In theory, you are to rely on the ABS system. However... there are certain specific times where even the ABS will not work properly. For instance, Ice. solid sheet of ice. when you hit the brakes, all 4 wheels lock up instantly and the computer thinks you are stopped and offers no brake modulation. I've seen it, I've done it. Scary. In this instance, you would need to let off the brakes and either steer only or figure out how much steer and how much brake to apply. Remember, the ABS will only activate when it senses one or more wheels braking at a different speed than the others. But, 99% of the time, you should rely on the ABS, but, you should be aware there are certain times where it is not the best.
The easiest way to wrap your head around this topic (and any topic of tire traction) is to understand you only have a set amount of traction and this traction is responsible for ALL stop, go and turn actions. if you are using 90% of the available traction your tires offer to turn, you only have 10% left to brake. So... if you go in to a turn too fast and start to slide, if you hit the brake pedal, you are almost guaranteed to slide more. If you Google how road racers negotiate a curve, it is explained quite well.