An electrical submersible pump assembly has a motor module coupled to a centrifugal pump module by a seal section module. A shaft assembly extends through each of the modules for causing the motor module to rotate the pump module. At least one of the modules has a sleeve extending around the shaft that is of a harder material than the shaft. A torque transmitting ring is deformed between an inner diameter of the sleeve and an exterior portion of the shaft. The inner diameter of the sleeve is a continuous cylindrical surface free of any torque transmitting shoulders. Friction created by the torque transmitting ring transmits the entire rotational force from the shaft to the sleeve.