Relationship being destroyed by low self esteem

I've had low self since elementary school, I always had a problem with the way I look, always comparing myself to other girls along myself, why don't I have what they have or look like they do. I have a great boyfriend, he cares about me, tells me I'm beautiful, and would do pretty much anything for me, yet I always ruin it by getting mad at him if he wants to hang out with friends particularly if it's a girl, I get really jealous and super insecure and think he might end up leaving me for them.

I had a bad relationship in the past where the guy would play mind tricks and go off with other girls, I was always hurt but one day I got the courage to leave him and I'm glad I did, but now with my current boyfriend I try to be controlling and get mad at the mention of any other girl, I don't know how I can stop feeling and being this way. He doesn't deserve it.