And then the story continues with Jesus taking a towel and washing the feet of His disciples.
I don't think we really understand what a humbling job washing feet was at the time. It was the job of a servant, a slave. It wasn't something someone you honored and loved and looked up to should be doing to you. The only thing I can think of that might be close is when we clean up after them after they have vomited or had diarrhea everywhere. If I had been the one who vomited, watching someone clean up my mess would so humiliate me. I'd be so embarrassed to have them do that for me. I wouldn't let them. Maybe this is how Peter felt when Jesus began to wash his feet.
Jesus did it anyway.
If someone has a problem with self-esteem there is no way he will, without a word, clean up after someone else. Jesus could wash his disciples's feet because He knew who He was; He knew the Father had given everything to Him; Jesus knew where He came from and He knew where he was going -- back to God.
If we know that we know that we know who we are in Christ, we will have no problem laying ourselves down for others, dying daily, taking crap from others when our flesh wants to scream at them.
We aren't supposed to be doormats. Jesus was and is never a doormat. But He never felt the need to explain Himself. He knew people didn't understand, that some judged him, that they misunderstood what He did. He did it anyway and often silently.
It's okay. Do what God calls you to do. Be who God calls you to be. Let others think what they will. And leave the results to God.