What I mean by "high and mighty" (though I realise this term does not exactly paint anyone in a nice light) are characters who know their worth and know themselves to be better than numerous other people, but are not condescending towards others and do not lack compassion and empathy. They are simply imbued with a sense of grandeur in everything they do, and it is not exaggerated or non-warranted. I mean characters with self-confidence. But I didn't use the term self-confidence because the mindset I'd like to describe goes beyond plain self-confidence. I guess I mean characters who believe or sense they are above others, yet it doesn't make them arrogant or vain.
I tried looking up different synonyms by myself already, which is my first step when lacking words to describe what I want, and could only find words with negative nuances, which is not at all what I'm interested in. I'm mostly looking for adequate terms rather descriptions of behaviours.