Self esteem of a child is increased by giving them confidence about themselves and positive feedback. If you go for criticism to the children on their mistakes what will happen is that children will get mentally suppressed and their abilities will also affect by criticism and at the end children will face lack of confidence in each and every step of their life.
So, if you want to improve your children self esteem you should not criticize them on their mistakes and you should do something which will boost them and they feel about themselves better by as a result by praising them and providing positive feedback.