How do I build self esteem and not care so much what everyone else thinks?!

How do I build self esteem and not care so much what everyone else thinks?

I've always been kind of shy and timid. I have days where Im crazy outgoing and on top of the world. But more days than others, I am kind of distant and quiet. I have something to talk about for a while, and then it seems to ware off. I've had a tough life, that probably causes for a little bit of depression but I dont try to let that get in the way.
How do you feel when you go out in public?
I want to feel alive and not be afraid to dance without feeling like the whole world is watching me, waiting for me to make a mistake.
I want to be that interesting girl with quirky things to say, that everyone wants to be around.
How do I do this?

I really can't tell you how to become who you've listed at the bottom of your paragraph, however I can tell you what it takes to be yourself.
Listen girl, I know how it feels to have low self esteem and to feel like you don't want to do anything that will draw unnecessary attention to yourself in case you mess something up.
What I tried to do in order to get over that is to highlight all the positive things that have or will happen in my life. Continue to surround yourself with lots of love, and ONLY keep friends that except you for who you are.
Remember not to say or do things that you only think people want to hear, express yourself how you see fit!

I wish you the very best!!