We are to only worship God, and yet Jesus, a man, was worshipped in his earthly ministry. How is this so? The answer is that we worship Jesus, the God-man, not insofar as He is a creature, but insofar as his Person is God.
This precious jewel of theology is argued by the reformed theologians linked on the page below in a bit of detail that will be clear to the simplest, and make the most knowledgeable cry out: “Oh! the depths and the riches! (Rom. 11:33)