Esteemed it an honor to help them.
To be held in high esteem.
We esteem it an honor to be invited.
An example of esteem is the worth of a president who everyone likes.
An example of esteem is to think very highly of a smart person.
Origin of esteem
- Middle English estemen to appraise from Old French estimer from Latin aestimāre
From American Heritage Dictionary of the English Language, 5th Edition