The chief difference between self-efficacy and self-esteem is that self-efficacy is the belief in your abilities,
while self-esteem is the belief in your own worth. When you have strong self-efficacy, you believe you can achieve certain goals.
When you have high self-esteem, you consider yourself a valuable human being – but it doesn't have to affect your self-efficacy,
as you can still doubt your abilities. For instance, a person who's a poor driver would probably have poor self-efficacy with regard to driving.
However, if she doesn't rely on her driving skills as a source of her self-worth, it won't affect her self-esteem.
On the other hand, a person with low self-esteem is more likely to have low self-efficacy because issues with self-esteem usually come with a lack of confidence in general.
If you lack self-confidence, learning new skills is difficult.
Moreover, even if you're good at something, your lack of self-worth might make you think you're still inferior to others.