Sorry you are feeling low self esteem. That can be a factor, but so can feeling vulnerable and not wanting to be that open and vulnerable to disappointment.

Meds can affect sex drive. So can our childhood experiences. Your profile says you are young. Perhaps there is a sign of maturity emerging. Wanting intimacy not just sexuality is a sign of the maturing person.

Maybe this is not stupid stuff, but just being honest about where you are. Acceptance of this could be the path to wherever you are headed.