Strong inter-personal relationships, in general, can foster better self esteem. However, it may not be possible to do so with specific people, such as ones parents. They might be deceased or rebuff any attempts at closeness.
One of the reasons therapy can be so helpful to someone with low self esteem is that the therapist provides unconditional acceptance of the person. A truly professional therapist will convey the message of “feedback not failure” (NLP premise). So, a person can then see themselves as being on a path striving to be better, rather than being a success or a failure at any given point in time.
I read that true self esteem doesn’t come from our possessions or accomplishments, for those are fleeting. It comes from the growing recognition that we have the capacity within ourselves to manage ourselves and our lives. This recognition of this capacity can grow with our setting small manageable goals for ourselves and then seeing them through.