Acharya Prashant explains that self-doubt is an inner voice that questions one's worthiness or capability, often leading to anxiety and missed opportunities. He clarifies that if something is truly and heart-fully loved, one is inherently worthy of it. Achievement does not depend on the object or target itself, but on the purity and vigor of one's love. While capability takes time to build and has physical or practical limits, love requires only clarity. When a desire is so deep that one cannot live without it, that desire itself becomes the qualification for success. True love empowers an individual to strive beyond their current limitations and capabilities.