esteem v.

"held in high regard, respected, valued," 1540s, past-participle adjective from esteem (v.).

c. 1300, "to estimate (number or size), calculate, count," senses now obsolete, from Old French aesmer, esmer (Old North French amer) "to value, rate; count, estimate," ultimately from Latin aestimare "appraise, determine the value of" (see esteem (v.)).

The meaning in English apparently developed from "calculate," to "calculate with a view to action, plan," then to "direct a missile, a blow, etc." (late 14c.). It also was used in Middle English of directing a letter, planting an altar, pitching a tent. The intransitive sense of "intend, attempt" (early 14c.) was used by Shakespeare but is now considered colloquial. Related: Aimed; aiming.