See, the catholic has to again resort to redefining prayer.
But, here is the answer to your question.
1It happened that while Jesus was praying in a certain place, after He had finished, one of His disciples said to Him, Lord, teach us to pray just as John also taught his disciples.
2And He said to them, When you pray, say:
Father, hallowed be Your name. Your kingdom come.
3Give us each day our daily bread. 4And forgive us our sins, For we ourselves also forgive everyone who is indebted to us. And lead us not into temptation.
Jesus did not teach them to pray to anyone than other the Father.
Are we to pray for each other? Yes.
But those prayers are offered to God....not the saints, not Mary, not Paul, not Peter, etc.
Look up how "pray" was used in Shakespeare's time, and you'll see that "pray" meant "ask," and you could pray anything from anyone "A bit more victuals, I pray thee." It's only recently, in the last 300-400 years, in English (not necessarily in other languages), that "pray" has been narrowed and construed --- by some --- to something like "worship."
When Jesus said to pray in this way --- "Our Father" --- He did not say that was the only prayer allowable. We can pray to God the Father, and God the Son, and God Our Lord the Holy Spirit --- that is to say, to the Holy Trinity --- in that one sense of adoration, and using many kinds of words. Otherwise, how short would church be! In and out in two minutes!
In a broader and time-honored sense, we can express verbally our living bond of love with anybody in the Body of Christ, share our joys and sorrows with them, and petition their prayers and intercession.
I can do this with you. With my husband. With my parents, who have gone on before us. With St. Peter, with St. Michael the Archangel, with St. Joseph Jesus' foster-father, and with Mary. And my mother (1913-1994) --- Winnie, please pray for your grandsons!
Otherwise, we'd be saying we don't need them. As if we didn't need them! St. Paul says you can never say you don't need them! We have a vital connection in Christ, living, constant, viral, powerful, effective as St. James says, and far stronger than death.
All these prayers are ultimately offered to God OF COURSE ---not "just" the saints, not Mary, not Paul, not Peter, etc. as if they could do anything as "independent operators" --- because we can offer them only with and through other members of the Body of Christ. In Him we live, and move, and have our being. Without Him, we are useless, incommunicado, powerless, pointless and dead.
So as for adoration, we do that to God alone, to the Blessed Trinity. As for prayer, we do that for each other. All of us. I pray for you, you pray for me.