The first part of self-esteem is the aspect of self-efficacy which is whether you feel you can make it in the world.  Do you have your own opinions?  Are you the master of your own life?  The second aspect is self-respect.  Self-respect is feeling value, that you deserve happiness and that you deserve happiness.  The six pillars talked about are: Living consciously: The practice of self-acceptance; The practice of self-responsibility; Self assertiveness; Living purposefully; and Integrity.