According to Carl Rogers's theory of personality, a person is highly motivated to act in a way that is consistent with "his or her self-concept", which is congruent with his or her emotions and experiences.
As per Rogers, we need to feel involvement and carry on in ways which are steady with our mental self view and which reflect what we might want to resemble, our optimal self. The closer our mental self view and perfect self are to each other, the more predictable or compatible we are and the higher our feeling of self-esteem.