venerate - To regard with deep respect or reverence.
Latin venerātus, past participle of venerārī to solicit the goodwill of (a god), worship,
Synonyms: revere, worship, deify, glorify, adore, idolize
revere - from Latin reverēri, from re- + verērī to fear, be in awe of
These are everyday usages. The theological difference in the context of the religious service is that worship is of one God and veneration is attachment to some historical figures combined with the belief that they are with Christ in Heaven.