Self-esteem is one of the most important characteristics that a person needs to have. Self-esteem is the pure form of self-confidence. So you cannot find the proper difference. You need to know that whenever you start to feel confident, your self-esteem will grow automatically.
In brief, we can consider that self-esteem is directly connected with self-value also. When you are confident and giving enough value to yourself, then your self-confidence will start to grow gradually.