I think it will depend on what's causing your self-esteem to be low. Reading books like that might well help you to understand exactly what the issues are. My social phobia was a major cause of my low self-esteem - I thought that the reason I was scared of things that other people weren't was that I was just weaker and inferior somehow. When I realised it was just bad luck that I had come to be that way, I felt a lot better. And now that I can do the same things as other people, and often with more ease, I feel better still.
This is important though: it can be a vicious cycle. If you believe that you are inferior to others for whatever reason, you will be more likely to believe what they say. Sometimes someone will likely be a better judge of your abilities at something than you are, like your teacher or trainer, but much of the time, no one knows your abilities better than you, as you're with yourself for longer than anyone else. If you don't credit your own judgements enough, you're likely to give also a disproportionate amount of credit to those of others. Remember, there's not necessarily reason to assume that someone else's evaluation of you is more accurate than your own.
I still have this problem a bit, and it's not the same as social phobia. Most of the time, I don't believe what people think about me or anything else - I'm verging on paranoid, actually...