Nature loves courage. You make the commitment and nature will respond to that commitment by removing impossible obstacles. Dream the impossible dream and the world will not grind you under, it will lift you up. This is the trick. This is what all these teachers and philosophers who really counted, who really touched the alchemical gold, this is what they understood. This is the shamanic dance in the waterfall. This is how magic is done. By hurling yourself into the abyss and discovering its a feather bed.
You can’t receive self-assurance or esteem, it’s something you just give yourself. Nothing in the world can complete you, other than yourself. Loneliness is an illusion, people try to search for themselves in other people or objects and it’s pointless. If you are with yourself, you are never lonely, if you hide from yourself you will always be lonely no matter how many people you try to cover that up with. Loneliness is a state of mind, not a situation that the world throws at you.
Before you judge others or claim any absolute truth, consider that you can see less than 1% of the electromagnetic spectrum and hear less than 1% of the acoustic spectrum. As you read this, you are traveling at 220 kilometres per second across the galaxy. 90% of the cells in your body carry their own microbial DNA and are not "you". The atoms in your body are 99.9999999999999999% empty space and none of them are the ones you were born with, but they all originated in the belly of a star. Human beings have 46 chromosomes, 2 less than the common potato. The existence of the rainbow depends on the conical photoreceptors in your eyes; to animals without cones, the rainbow does not exist. So you don't just look at a rainbow, you create it. This is pretty amazing, especially considering that all the beautiful colours you see represent less than 1% of the electromagnetic spectrum.
Live a good life. If there are Gods and they are just, then they will not care how devout you have been, but will welcome you based on the virtues you have lived by. If there are Gods, but unjust, then you should not want to worship them. If there are no Gods, then you will be gone, but will have lived a noble life that will live on in the memories of your loved ones.