Our esteem-based needs are met by developing self-respect and achieving our personal goals.

I believe so, yes.

Explanation:

If you have self-respect for yourself and really focus on the things you want to do in life, should result in higher self-esteem/esteem-based needs.

For example: Self-respect behavior

If you love yourself and acknowledge everything about yourself. You really just get to know yourself and have a deeper understanding of yourself. I think that is how you would achieve this. You don't go hating and making fun of yourself. You love yourself for who you are. ( P.S. I am no expert, so please take that into consideration. )

Another example: Personal Goals

If you push yourself hard enough and love yourself in the process, I think you will achieve great things. If you thrive and really accomplish the things you want in life. You have these goals no matter what others say about them. They are your goals for a reason. YOU want them, not other people. Just try to be optimistic about things, even when you don't feel like it.

( You basically answered your own question. )