pray FOR them, not TO them
well, firstly your statement was wrong about “infallible humans” — we don’t believe that. Where do you get these incorrect statements from? And why do you repeat them?
“pray FOR them, not TO them”
Your understanding has the wrong perspective. We pray to saints asking them to join our prayers to God. We request (pray) that the saints in Heaven who can see God face-to-face, take our requests to God.