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Is it normal that I'm usually happy if I'm with friends or family but when I'm alone I get very sad and feel worthless?
It all depends on your personality type, I think. I, myself, am an introvert which basically means I thrive in my own company and love being by myself. Don't get me wrong, I like company and spending time with my loved ones, but after a while I need to be alone to 're-charge' my batteries. Some people feel energized by being social, and others feel drained after. Both cases are completely normal, so you have nothing to worry about.
That's how I am except when I am getting sucked off, then I am happy as a lark.
Being extroverted (social) is just as normal as being introverted.
You'll find a lot of introverts who are unable to relate to your situation and might give you a bit of reverse discrimination, telling you that you must have alone time. That's not very fair of them, though, since it's no different than people telling them they're wrong for desiring isolation.
It's nice being alone sometimes because you won't have anybody breathing their hot breath all over you.