One of the best ways, in my opinion, to improve your self esteem, is to put yourself out there and get yourself into uncomfortable situations. That way, when you go through your normal life, a potentially awkward situation doesn't seem so bad. Lets say, for example, that you are a guy who is self conscious about the size of his, ahem, endowment. Perhaps he should use this restroom:
Especially the stall with the girl taking a picture, lol.