Beethoven learned from Haydn!
Not really. Ludwig was a terrible student. He was quite dismissive of Haydn and never did the work assigned to him. He went as far as to submit previously completed compositions as proof to his conservators in Bonn to show how much he was learning from Haydn. The conservators smelled a rat and recalled Beethoven.
Beethoven did worship Bach though. He also admired Mozart and probably Haydn, as evidenced by some of his homages to both in his earlier works.