Humility is an important character trait, but so is self-esteem. So it is important to balance the two.
Humility is important because it allows us to value and respect others. It also helps us to accept our failures and learn from them. Without humility all other character traits are weakened.
Self-esteem is important because it is the trait that lets us live to our potential. We cannot give to others that which we do not have. Self-esteem is a realization of the unique value that we offer to the world.
The thing to remember is that high self-esteem and pride are not equal. If you are afraid to look bad, then you are too prideful. But if you are willing to look bad to learn and grow, then your self-esteem is in alignment with adding value to yourself.
Humility provides an opportunity to see things how they really are, how you can learn, and improve.
So how do we keep humility, self-esteem, and pride in balance? We must maintain perspective about life. We must see the bigger picture. You can be humble and have high self-esteem if you know how your actions, desires, and goals fit in the bigger perspective of this world.
So when you feel your stress level rise, or when you get frustrated about a situation, or when you are hesitant to do something new, just relax and think from a higher level. Put things in perspective, and move forward.