Consider cross entropy of two distributions H[p, q] = -Σ p_i log q_i. For example maybe p is the real frequency distribution over outcomes from rolling some dice, and q is your belief distribution. You can see the p_i as representing the objective probabilities (sampled by actually rolling the dice) and the q_i as your subjective probabilities. The cross entropy is measuring something like how surprised you are on average when you observe an outcome.
The interesting thing is that H[p, p] <= H[p, q], which means that if your belief distribution is wrong, your cross entropy will be higher than it would be if you had the right beliefs, q=p. This is guaranteed by the concavity of the logarithm. This gives you a way to compare beliefs: whichever q gets the lowest H[p,q] is closer to the truth.
You can even break cross entropy into two parts, corresponding to two kinds of uncertainty: H[p, q] = H[p] + D[q||p]. The first term is the entropy of p and it is the aleatoric uncertainty, the inherent randomness in the phenomenon you are trying to model. The second term is KL divergence and it tells you how much additional uncertainty you have as the result of having wrong beliefs, which you could call epistemic uncertainty.