How can I (21F) show my loved ones (20f) (22m) that I care

Just as the title says I’m trying to find a way to show my loved ones that I care. So recently a friend (ex-friend? Idk yet) had called me out for my recent behavior. She said that our friendship was a burden onto her. The conversation was about my flaws. She said I was selfish, not open emotionally, I wasn’t emotionally invested in others besides myself and couldn’t handle my up and down moods. At first I was offended because so much was going on and it hurt that she couldn’t see that. I have depression and was off my meds for a bit because they felt like they were only amplifying all the bad emotions. After some soul searching I realized that I truly haven’t been a good friend or girlfriend to the ones who love me because they are always there for me but I don’t know how to be there for them. It had hit me that I was becoming like my mother in a way; someone who only cared about themselves and not others. So I went back to the doctor to get back on my meds and turns out I didn’t have depression but my doctor thinks it’s either Bipolar depression or BPD. so I’m taking something and hoping it works. I want my loved ones back but I don’t know how to do it. How can I be less selfish as well as show others that I’m emotionally invested in our relationship cause I want to show them that I care.