A compact surface self-compensated hydrostatic bearing includes a rotor assembly including a rotor plate having upper and lower fluid restricting faces, a rotor top and bottom, each having bearing surfaces angled with respect to an axis of rotation of the rotor assembly; a stator assembly including a stator top and a stator bottom housing the rotor assembly therebetween, the stator top and bottom having bearing surfaces facing and spaced apart from the rotor top and bottom bearing surfaces forming upper and lower bearing gaps, respectively, therebetween; the stator top and bottom including a lower and an upper fluid restricting surface, respectively, facing and spaced apart from the rotor upper and rotor lower fluid restricting faces, respectively, forming upper and lower restricting gaps, respectively, therebetween; and a fluid supply system configured to supply pressurized fluid to the bearing gaps and into the upper and lower fluid restricting gaps.