Awareness of freedom and responsibility creates anxiety, which is also referred to as anguish or angst. Aspects of romantic attachments can relieve anxieties. For example, Mario Mikulincer et al. argue that loving relationships can act as a "death-anxiety buffering mechanism", since the sense of security, protection, comfort, self-esteem, and social validation that close relationships provide may serve as defensive devices with respect to existential anxiety about the threat of mortality.
Perhaps we just need little reminders from time to time that we are already dignified, deserving, worthy. Sometimes we don't feel that way because of the wounds and the scars we carry from the past or because of the uncertainty of the future. It is doubtful that we came to feel undeserving on our own. We were helped to feel unworthy. We were taught it in a thousand ways when we were little, and we learned our lessons well.