I found a bit of self esteem in self-learning. That is, I picked a topic that interested me at the time: Psychology. I wanted to find out why I sucked at math in the later grades of the elementary and despised it ever since even though I can clearly remember(from the early years at elementary) figuring out division on my own by comparing it to the other three basic operations I already knew, coming up independently with the concept of odd and even numbers(I named them "just" and "unjust", because you either can or can't divide an x of something between two kids, right?), and asking the teacher to present me with more math excercises of a particualr kind which I was fond of at the time. They looked like a spider web of calculations that you had to do in order to come to one number. Eventually, I ditched psychology and instead tackled math itself, and also programming, while I was at it, with the aim of going for a degree from computer science and becoming a software engineer. And I studied and I learned, and gradually, I became fairly confident that I can do any high school math there is and that I have at least rudimentary grasp of about three programming languages and computer science in general.
That's what made me from an insecure kid with no direction who aimlessly wasted his time playing videogames and trying to socialize into a half-adult with some sense of purpose and a bunch of ideas for a business in mind. Mastering what my family, classmates, and teachers told me I will always suck at, proving them wrong, and also finding their very approach to study and learning a limited and misdirected one; carving my own understanding of what I want from life, learning to be at the steering wheel of my destiny, acquiring a sense of what could I do for the world... There are so many more things that I learned during this like eight months study trek than solving some equations or cobbling together a for loop. I don't know what's your story or life situation or anything, but for me, embarking on a journey to conquer my weaknesses and fears did the self-esteem trick pretty well.