Is it grammatically accepted to native speakers if I say:
I've always esteemed your advice.
I looked up dictionaries, and it is said that "esteem" is usually used in passive voice.
So I want to know whether I can fill in the gap with esteemed.
Yes it is and yes you can, BUT it's rather old-fashioned and formal now for natural use in GB. We'd be more likely to use 'valued'.