Of course, worshipping relics WOULD be pagan, indeed, it would be idolotrous. However, showing proper respect for those things deemed sacred is biblical and can bring us closer to God by bringing us closer to the Reality of the Incarnation.
For example, Moses brought Joseph's bones with him out of Egypt.
... the bones were brought out of Egypt to keep a promise
to bury them in the Promised Land. No veneration or worship
is ever mentioned... and they were buried for good. None of
that bone of the saint stuff.