Human dignity means that human beings are in a state of being worthy of honor or respect.
We can exchange the words honor and respect with esteem. People are worthy of esteem. Human dignity and esteem are two expressions of the same human condition.
Human dignity is another word for intrinsic worthiness. That means people deserve respect regardless of age, abilities or social status.
When we give esteem toward others we give it free. Esteem is deserved not because of a specific reason but because we are human beings.
Human dignity and esteem are closely connected to each other.