Both "modest" and "humble" describe qualities related to having a low view of one's importance or being unassuming. They both imply a lack of arrogance and a simple or restrained manner.
While "modest" often refers to someone's behavior, appearance, or circumstances, suggesting moderation and propriety, "humble" more specifically refers to one's self-view or attitude, often related to humility or having a modest opinion of oneself in a straightforward manner. "Modest" can also refer to being moderate in achievements or estimations, whereas "humble" can imply a greater sense of self-awareness and meekness.
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