No Christian ever worshipped St. Peter. This is very badly worded. One prayed and may pray to St. Peter to ask for intercession with the Lord Jesus, but that is not worship.
There is not any need at all to pray to St. Peter. Our one and only mediator is The LORD Jesus Christ. We need no other. Jesus Himself, the One who died for us, beckons us with nothing but love and we need not be afraid but to come personally unto Him.
Mat 11:28 Come unto me, all [ye] that labour and are heavy laden, and I will give you rest.
Jhn 15:16 Ye have not chosen me, but I have chosen you, and ordained you, that ye should go and bring forth fruit, and [that] your fruit should remain: that whatsoever ye shall ask of the Father in my name, he may give it you.
Hbr 4:16 Let us therefore come boldly unto the throne of grace, that we may obtain mercy, and find grace to help in time of need.
1Ti 2:5 For [there is] one God, and one mediator between God and men, the man Christ Jesus;
Hbr 7:25 Wherefore he is able also to save them to the uttermost that come unto God by him, seeing he ever liveth to make intercession for them.