Joe,

You did not say how old you are.  Good for you for starting to take care of yourself with meditation and exercise.  Usually our maladies originate from our upbringing.  Your lack of self esteem, your concern of being judged negatively by others, your social anxiety probably all can be traced to the lack of emotional nurturing.

You desire to change perspective.  How we look at the world and ourselves using mindfulness is a great way of getting to where you want to be, in a more emotionally healthy place.

Ideally in combination with what you have already started, having a therapist to work with you on your anxiety, etc. would help as well.

Good luck,
Mark