I am in support of your statement. Being self-esteemed means having self-confidence. This quality is powerful over either wondering aimlessly or doubting a lot. I am a professional counsellor. I am interested in Personality psychology.
Self-esteem shouldn't be allowed to create personal problems. According to scientific and psychological understanding, life is really beautiful in a world of today. All of us should be able to act confidently.
As you mentioned, we are in control of destiny. We need to become more self-esteemed to take full control of lifestyle.
Therefore, the family relationship and social environment shouldn't be underrated or overlooked. There should be the right quality of esteem, and the individual control in personal life. Everyone of us has to remain successful and happy.