The term responsiblity is very misunderstood, taking responsibility doesn't mean blaming yourself or sitting in guilt. Taking responsiblity means you take the things in your hand and whatever had happened now is not your business but from now on you gonna take control of things you gonna direct it the way you want.
When you take responsibility you becomes the centre of situation, since you're the centre you become indispensable, suddenly all the insecurities are gone. Now you have better control over things.
Responding to situation on the other hand is compulsive action that you do out of anxiety or to take things out of your shoulder. This may seem helping that you're free by responding but it never really helps.. nothing good comes out of it.