We are what and where we are because we have first imagined it. One way to develop a higher self-esteem is to set goals. You are taking control of your life. That is how it is if you don't have goals. It will take you longer to finish what you're doing, and it might not even be what you wanted.
Goal setting is easy.
It just takes time. You might want to break the steps up into 20-minute chunks. Spend at least 20 minutes brainstorming what you want from life under each of these categories. Use a timer and don't censor anything. Write continuously for the 20 minutes.