You probably are on to something. The simple truth is that you are not perfect, nobody is.
Also, if somebody criticizes you, nothing bad actually happens, it is only a problem if you think it is.
So you could start by repeating these things to yourself several times a day, and gradually putting yourself in situations where you are criticized, so you can see that you are OK.
I highly recommend cognitive behavioral therapy, it has helped me a lot with similar issues in just a few months.
https://www.youtube.com/watch?v=OvgtwMCaIcU