I have a correct self-esteem, but high self-confidence. At least that's what I'd say, but I don't know if I use the words correctly. Thanks to many failures (aka lessons), I can estimate very well what I can and can't do, and based on that have a high confidence in being able to reach goals. In German I would use "self-worth" for the self esteem as direct translation. I could be wrong on that!
About the other part - I really recommend reading "The Burn-Out Society" by Byung-Chol Han. He talks about a lot of things that cause low self esteem in our society, besides other psychological problems resulting from a generation that is focused on self-optimization and hence always has the feeling of not being good enough. In a world where allegedly everything is possible, not achieving something is a failure. In a nutshell.