In my limited opinion and knowledge, this is more so to resolve any potential conflicts with terminals. As described in the Terminal Type Descriptions Source File (termcap), Escape is defined as ^[ ( Ctrl-[ ). So it could be interpreted as ^[-[. The keys Escape and [ are also used in combination as well.
Excerpts from termcap:
In Cursor Mode, the cursor keys transmit "Esc [ {code}" sequences, conforming to ANSI standards.
...
Control Sequence Introducer is the two characters "Escape ["
I will gladly take any corrections, as this will help not only me, but also any other curious passerby's in the future.
P.S.: Those excerpts were taken from my OpenBSD 5.9 /usr/share/misc/termcap file.
tmux bind Escape copy-mode
via the command line both keybindings now work for entering copy mode. – user777337tmux
are you using? – chepner