Prayer is offered to God, never to any created thing. To do so is to offer worship that should only be directed to God, which is idolatry.
A prayer is something wished for or requested of another, you can pray for the judge to continue your judgment, pray for a specific redress, and so on, the same way you can call a barrister in England “your worship” and not be worshiping that individual as God or a god.
Folks who make up their own religion, though, like to start out by redefining terms to suit their own twisting of Scripture. Due to that fact they often can't understand a simple word like "prayer" because they've accepted the twisted definition their own personal religion finds useful in furthering their lies and their slanders of others.
Likewise, such followers of false religions cannot meet and accept Christ because they refuse to accept Christ as He is and insist that their version of Christ conform to their own personal religion so they can go along to get along in a pagan society.
Pray tell, do you not understand the difference between prayer and worship?
You are correct. We only ask the saints to pray with us to God. We all pray to God - sinners and saints alike.
However, your sentence says “...worship that should only be directed to God, which is idolatry.” Really? Worship directed to God is idolatry? I’d have to disagree with you on that.