When we tell ourselves we will do something but we don't follow through, we create an internal contradiction and lower self-esteem. Be honest about your intent and true desires when choosing goals to build trust in oneself and improved esteem.
Judgment should start within. You will have opportunities daily to pass judgment on others whether by their actions, character or just their appearance. It is important to remember that while no one is perfect, the same applies to you tenfold. Before you take the time to be judgmental about someone else, look inside and pass judgment on yourself first. You will realize that it is less important to judge than to lead by example.
Do not fear making mistakes in your life. If you never made any mistakes you would not be human and you would not be able to learn from those mistakes. Brilliant ideas have come from people making mistakes, learning from them and making changes to their ideas to make them a success.