It's all possible
Self esteem increases your confidence. If you have confidence you will respect yourself and then you can respect others, improve your relationships and become happier....this is not a selfish goal as you will contribute more and share yourself with the world and those around you.
Low esteem causes depression, unhappiness, insecurity and low confidence. Other's desires may take preference over yours. Inner criticism, that nagging voice of disapproval inside you, causes you to stumble at every challenge and challenges seem impossible.