So I guess the first step to becoming "cured" (which according to psychology is not completely possible w/ personality disorders, but I'm here to argue that) was learning that there was a such thing as avoidant personality disorder. So, since it was a thought disorder, I learned that it was simply my own thoughts that made me "not as good as other people", or the one person on the planet that was completely disgusting and different from everyone else, not the fact that I was actually born that way (which I legitimately used to believe).
Then I worked on just trying to act outgoing like other people. Making small talk, waving and smiling at people, etc. That helped a little. I also saw a therapist, who frankly didn't help at all!
Everything changed when I had one single conversation with my roommate. We talked about death. I am only 22 and kind of had this mentality that I would live forever (not really, but for a VERY LONG TIME), and life would be one long torturous endeavor for me. In fact when death finally happened on its own it would have been kind of a relief. During our conversation I had some sort of epiphany- most things that most people care about during life are COMPLETELY insignificant. Many people pride themselves on their education, occupations, income, physical beauty, etc etc etc. Or they find the need to identify themselves with SOMETHING like their nationality, religion, social status, WHATEVER. However, when we die, NONE of that will matter. Not even a little bit. Everything you identified yourself with during life will be gone when you are. As the saying goes, "you can't take it with you". Then I started to think about this in terms of the world before me and the world after me. 100 years from now society will be completely different. I won't be around, and people will be worrying about and concerning themselves with different things than people today do.
All we are are people occupying this earth for a short time in relation to its own existence. There were other people before us and will be other people after us. Everybody who lives dies. It is impossible for people to be "better" or "inferior" to other people. We are all born in the same manner and we all die.
One day we will all be dead. You really do only live once. With the realization that none of this will matter when you die, you can simply relax and enjoy being alive. Humans are waaaay too influenced by society and other people. Once you realize that you are simply one of billions of humans living on this planet, and your sole purpose on this planet is just to live (like I said, occupation, social standing, whatever will not matter when you're gone), you cannot have low self-esteem.
You're here to enjoy life. If you do not let other people influence the way you feel about yourself, they really can't. Even if you had a social reaction that was poor, you need not blame yourself. If someone ever acts like they're "better" than you, isn't it sad for them that they do not realize that all we are are people living and while we're here we should all live peacefully appreciating the beauty in one another? Once you realize nothing matters and you're simply living, you really can live.
I've looked to God before through religions and it never clicked for me or helped. But I feel that through this realization I actually found myself and God. I need not identify with a religion, but I am at peace. I'm just another person living and enjoying my time here while I am. Nobody is better than me nor am I better than anyone else. We're all just people living. Who really knows the meaning of existence, but that's the beauty in it. We don't know what happens after we die, but we do know we won't be in this body in this life on earth anymore. So while you're here, enjoy it. Realize that nobody can define you. God is within you. You are a part of something larger and beautiful. Learn to appreciate yourself and with that you will never be in competition with others. It's pretty crazy that we only live once. So WHO CARES what other people think they cannot impact your beauty as a person.
Since this realization (about 6 mos ago) I've been on like a permanent high. Things that used to stress me out don't anymore. I don't care what people think. I love everyone and solely feel pity for those who do not realize the meaning in life and feel the need to harm others. Superficiality and the influence of my ego have left me. I've tried tons of new things (have re-learned piano, gotten quite good at painting, and learned to skateboard) and made many new friends. I used to think feeling like "happy" people was impossible.
TRY TO REACH THIS STATE YOURSELVES. Realize you'll only live once. Enjoy every moment. It's not hopeless. I know this was a bit cheesy, but I really can't believe how amazing I've felt without a second of feeling avoidant again. Help yourselves. Let me know if this helped at all. It really seems to be the only cure to me.