Viewing your own penis as a key to connection with others is the crux of learning to be proud of it. Because it holds so much potential and so much power for you. Even if you never meet another penis in real life to share arousal and generate friction and pleasure together, you are part of something larger than you, and are accepted into it wholly, just as you are.
Practicing these steps, and making intentional time to take your clothes off and touch and stimulate your genitals is how you learn to love them. They bring only joy and pleasure into your world, no matter their size or shape.