The Pope serves Christ as His vicor on Earth. Jesus set up this system. It is stated clearly in Scripture. If you don’t like the system you don’t simply have a problem with the Catholic Church you have a problem with Scripture and Jesus himself. Complain to Him about the Pope. It was HIS idea. Tell him he should not have renamed Simon Peter “the Rock.. and on this Rock I will build my church”. Tell Jesus he was wrong to tell Peter to “feed My sheep, feed my lambs...” Tell Him he was wrong about the Eucharist ... that it couldn’t possibly be His Body and Blood, that He was wrong to let many followers leave because they refused to believe it was His Body and Blood. Tell him you don’t want to “interpret” it the way he clearly states in the Gospels. Scripture supports Catholic Doctrine, not protestant doctrine, of which there is no such thing.
The very premise the "vicar" is built on is flawed. There is an effective way to see if Rome's premise based on Matthew 16 is correct. Check other Scriptures. Did Peter take a leadership role at the Jerusalem Council in Acts? He was a voting member and not the final voice. James the brother of Jesus was the leading voice.
Did Peter claim his Roman bishop and vicar role in his epistles. No he did not. We have no Biblical evidence Peter was in Rome.
The only interaction with the Roman church within the NT was Paul's epistle to the Romans and Paul in Acts going to Rome as a prisoner and then under house detainment where local church and synagogue leaders came to visit him.
Now we do know Jesus said in Matthew 16 the following and in Acts we see it fulfilled:
19 And I will give you the keys of the kingdom of heaven, and whatever you bind on earth will be bound in heaven, and whatever you loose on earth will be loosed[d] in heaven.”
In Acts these keys were clearly exhibited by the Coming of the Holy Spirit. First at Pentecost where the children of Israel received the Holy Spirit first; then by Peter going to Samaria so the quasi Jews received the Holy Spirit, they received it second; then by Peter completing the fulfillment of the keys by going to the Gentile Cornelius' house where the Gentiles received the Holy Spirit after hearing and believing. Interesting that this account recorded in Acts 10 there were no hands laid on to receive the Holy Spirit as happened in Samaria. No hands laid on at Pentecost either. Peter was no doubt exercising authority given to him by Jesus Christ reference the keys. In effect, he was a "key" player in that he was present at Penecost, then with the Samaritans and then with the first known Gentiles. After that, Paul becomes the main preacher of the Gospel to the Gentiles. At this point the proclaimation/prophecy of Jesus is complete regarding the keys. The Jews, Samaritans and Gentiles now had the seed of the Gospel and those who believed received the Holy Spirit and were baptized. Peter mission complete, good and faithful servant.
The Bible tells us that Paul was not under the authority of Peter but directly from Jesus Christ:
Galatians 1:
11 But I make known to you, brethren, that the gospel which was preached by me is not according to man. 12 For I neither received it from man, nor was I taught it, but it came through the revelation of Jesus Christ.
13 For you have heard of my former conduct in Judaism, how I persecuted the church of God beyond measure and tried to destroy it. 14 And I advanced in Judaism beyond many of my contemporaries in my own nation, being more exceedingly zealous for the traditions of my fathers.
15 But when it pleased God, who separated me from my mother’s womb and called me through His grace, 16 to reveal His Son in me, that I might preach Him among the Gentiles, I did not immediately confer with flesh and blood, 17 nor did I go up to Jerusalem to those who were apostles before me; but I went to Arabia, and returned again to Damascus.
18 Then after three years I went up to Jerusalem to see Peter, and remained with him fifteen days. 19 But I saw none of the other apostles except James, the Lord’s brother. 20 (Now concerning the things which I write to you, indeed, before God, I do not lie.)
21 Afterward I went into the regions of Syria and Cilicia. 22 And I was unknown by face to the churches of Judea which were in Christ. 23 But they were hearing only, “He who formerly persecuted us now preaches the faith which he once tried to destroy.” 24 And they glorified God in me.
Therefore the Biblical evidence is not there to establish Peter as vicar. Vicar appears no where in the NT. If tradition wants to argue for a Pope, then why not Paul?
The elders which are among you I exhort, who am also an elder, and a witness of the sufferings of Christ, and also a partaker of the glory that shall be revealed: Feed the flock of God which is among you, taking the oversight thereof, not by constraint, but willingly; not for filthy lucre, but of a ready mind; Neither as being lords over God's heritage, but being ensamples to the flock. And when the chief Shepherd shall appear, ye shall receive a crown of glory that fadeth not away. (I Peter 5:1-4)