That's a great philosophy. I've always thought we are often too had on ourselves. We should be self-forgiving, self-healing, self-nurturing, but not self-centered. As Hillel the Elder said: "If I am not for myself, who will be for me? And when I am for myself, what am 'I'? And if not now, when?" Your story about the post-partum mother and your kind words reminds me of a series of Q&A's from Zen. I don't remember it verbatim but it's something like this:

Where is the most important place?
Here.
What is the most important time?
Now.
Who is the most important person?
The one you are with.
What is the most important deed?
That which is needed.

You were able to sense that she was the most important person at that time and place and do that which was most needed, give her comfort and reassurance. Good on you.