Self-esteem can be synonymous to self-worth in that it is the confidence one has of personal value whereas pride is defined as one's feelings of having 'excessive' self-worth, which causes one to stubbornly insist on his opinions. Then, how can we have proper self-esteem? We have to see ourselves with the eyes of God the Creator. We can think, 'I am a precious person whom God made.' Then, we can value other people for they were also created by God.
"For we are His workmanship, created in Christ Jesus for good works, which God prepared beforehand so that we would walk in them" (Ephesians 2:10).