I am not sure what self-esteem is. It is a rather arbitrary word that has little meaning.
Self-love is a better word. A lot of people believe that self-love is inherently evil, though this is a false notion. Strictly speaking, a well-ordered self-love is actually necessary for charity, as Clare just said when she quoted Our Lord, "Love thy neighbor as THYSELF."
In fact, self-hate is ultimately a sin against the 3rd commandment, Honour thy father and thy mother. To put yourself down as worthless and not of much value is to say that your parents created something worthless in their union together, and so you are doing them a grave injustice. I'd dare say it would be similar to vandalizing the Sistine chapel, right in front of Michelangelo, who above all else would see the beauty of his own work.
Where humility actually comes in, is that ultimately there is nothing that you can take credit for completely in what you accomplish in life. E.g. Intelligence is a gift from the creator, so if you happen to have it, you can take pride in it, but pride in the fact that it is an example of the intelligence of the Creator, not because it is who you are. You are not your intelligence; it can be taken away from you at any time. One seizure and it's all over. Where humility is really reconciled with self-love, is that you are special and lovable ultimately for only one reason: you exist. Your talents and gifts are insignificant and worthless in comparison to the fact that God sees you and finds it good that you exist. To declare yourself worthless is in a way a sin of idolatry; it means that you have the audacity to claim that you know better than God your own worth; that God created something that was not good or lovable.
If anyone wants to know more about the philosophical aspects of love (which I personally think to be the most important topic in philosophy) I highly recommend reading Josef Piper's "About Love" if you can find it. It goes through the concept of love in an easy to understand manner.