Self-Esteem Problems :( I need serious advise. Help?

I don't know, maybe im depressed. My life feels pretty empty. I compare my-self to others and apathy has reigned for so long. I don't think i respect myself, im not really too sure if I've ever had a meaningful relationship with somebody because I'm scared to be myself, or if im too scared of being hurt I'll end the relationship. Pretty pathetic :/ . Some days are better than others, but Im Definitely not satisfied with my life, i see others and the joy and happiness that seems to come so naturally for them, makes me feel like a freak. I'm Definitely insecure . I have day dreams about how life could be, if i could some how be care-free and happy. I'm already on anti-depressants so i don't believe in a cure, I just want an answer. Im pretty sure that puberty has something to do with this, so when puberty is over, will the "I want to crawl out of my skin" feelings go away?