On WAN interface tab, have you already entered your cable modem IP into the 'Reject Leases From' box? Most likely would be 192.168.100.1
Not sure that will help IPSEC though. It means IPSEC is requesting a DHCP address before the pfSense DHCP server is up, while the cable modem interim DHCP server is up. You may be able to turn off that interim DHCP server on your cable modem, but there's no way to do that on the motorola units I've seen.