I think of icons the way I think of important pictures of those who are dear to me, as being a very special way to honor the dear ones. Same with the icons, the icons honor the holy ones of Heaven.
But what of the icons of the saints and of Mary who are prayed to? Icons are not just representations of people. They are idols who are prayed to. Jesus was asked how we should pray. What did he say? He started off with: “our Father who art in Heaven...”... So we are only to pray to God, no one else.