Personally (and this is just me), I tell myself, "What happened happened. I can't change the past, but I *can* change the present."
Of course I will still feel a bit guilty (I think we all would), but we all make mistakes and we all learn from those mistakes. So please don't beat yourself up for it.

It may help in the future to have friends, family, or *someone* to talk to during a hypo/manic episode. Even talking to someone online counts! Don't be afraid to reach out to someone and tell them what you plan to do.
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Whenever I hurt someone, the best I can do is apologize for my actions, admit that I know what I did was wrong, and accept full responsibility. The person I've wronged may or may not accept my apology, but I figure apologizing is always worth a shot. (Better to apologize than to not apologize at all.) I also reassure the person that I will take preventative measures to make sure this doesn't happen in the future.
I'm sure you've already done the above, so you should consider it an accomplishment for being mature about it and doing whatever you could to rectify the situation. It's tough, but you should remember that it wasn't really "you" who did these things. So give yourself distance.