Kind of.
I don't talk about my family much, but when I'm feeling particularly useless, I tell myself that having a husband and kids and holding down a job means I'm actually doing OK. It helps with my self-worth, I suppose.
It can also back-fire, because I often have trouble doing the whole wife and mother thing, and that makes me feel useless again.
But overall, having kids who love and depend on me is good for self-esteem, I've found, and they keep me grounded.