I hold the belief that people, when not mentally sick, generally do have some of the best ideas on how to act around others, good ideas of themselves, etc.
However, I think those perceptions get clouded over time, by bigotry, conditioning, etc. And I also think that no one is really above those errors, or accepting them into their lives (intentionally or unintentionally) and incorporating them.
So despite myself not agreeing with Christians on most things, I do likewise see children as "more perfect" philosophically quite often (Christians would call this "sinless" or such).
As for self-esteem, it seems there are just as many reasons to reject such concepts (ie, self-esteem) as accept them, but I kind of prefer having those concepts myself due to the strong risk/reward system of self-esteem that suits me.