I still don't understand the ending

Pretty sure Henry kills Richard to free him. They’re “the same” bc being king lost them everything & it’s like a full circle moment bc they’ve both killed each other. The whole Joan of arc thing was just a hallucination created from Richard’s own self hatred. Richard hates himself bc he’s afraid of getting hurt, so saying that he loves himself probably means he’s ready to accept & face the “hurt” (consequences/ death).