I think it is a big mistake to confuse arrogance with high self-esteem or better said (healthy), because many times arrogance can be the weapon of someone who is afraid of being hurt. I think that people who have a healthy self-esteem (not believing themselves better or worse than someone just because they have different abilities) are not arrogant. The true balance would be to be at peace with yourself and transmit that peace to other people without the need to be violent or violated. But that is not achieved if you are not at peace with yourself