I'm sorry but that is an incorrect definition of Stoics. Stoicism is a philosophical doctrine where rationality and having sage-like qualities. They value self-control and holding back on acting rashly.
Stoic is also an adjective for describing someone ruled by logic and rationality. Being overly patient or terribly indifferent or apathetic to motional or trivial matters also fits with this. People who are called stoic are often seen as very detached from other people and from their own selves.
If you wish to know more about yourself, let yourself go with the flow as it were and take note of your first reactions or thoughts to things. How you immediately wish to act after something versus how you actually act after considering the outcomes of your actions are usually different from each other. Silkys comment on taking away any lies is a wonderful start, Im just saying you need to do more and take a lot of time to think about those first reactions and the truths that you keep from others.
You cannot become your "true self" because you already are your true self. Get rid of the ego, and you have been there all along.
Get to know your higher self through meditation, and intuitive exercises. I also recommend you try to astral project, because your astral body is your higher self. It can take years for you to know yourself through and through, and the result is amazing :)
Look in the mirror. Really look at yourself. That is who you are, that is who your higher self is.
Gaining control of your emotions takes a lot of practice and discipline. I would suggest starting with one you can already handle somewhat. When no one is around use music, memories etc to force yourself fully into that emotion. To bring yourself out practice deep breathing. Once you can pull yourself into and out of that emotion easily under any circumstance, move on to the next :-D