I deal with content for advertisers and this distinction comes up all the time. Pretty much what everyone has said in the last few posts is dead on.
Assure is for when someone is promising you something or putting your mind at rest: "John Smith assures you that he can find you affordable automobile coverage."
Insure is pretty specifically for financial/insurance (hence the term) or other types of directly protective situations: "Insure your car with the John Smith Agency."
Ensure is the most general, but is typically used for an implied action (as opposed to assure, which is more verbal/communicative): "I assure you that, to ensure your interests are protected, the best thing to do is see John Smith and insure your automobile."
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