Yes, but the irony is you're making the same mistake by calling them "messed up". Something is not right
with them, too. It's almost like attacking people is the wrong thing to do, no matter what they do to deserve it!
Most of the time what's wrong with them is simple. They are being lazy in their thinking, or they are ignorant of the importance of empathy and acknowledging people's experiences, and helping them through it, even if we don't approve of (or even understand) why they are having that experience. That's not an obvious lesson, and its not "written on the tin" of any baby I've seen!
(Caveat: A very tricky case is when someone seems congenitally devoid of empathy or self-reflection (e.g. NPD, or generic sociopath). In that case you're better off not engaging them emotionally at all, and treat them as a rational actor responding to incentives. A variant, the rational actor who clearly understands the power of emotions, who can learn to simulate them, and has no scruples about doing so--this is the nightmare person because not only are they "manipulative", their existence makes life harder for the rest of us with real emotions, who sometimes get accused of being them. BTW I've read some really interesting stuff about successful psychopaths who are totally open about their qualities, good and bad, and have decided to integrate with society in a classically healthy way! So even here, there is hope.)