Thomas Aquinas

“ Many tokens of Divine worship are employed in doing honor to men, either through excessive humility, or through pernicious flattery; yet so that those to whom these honors are given are recognized as being men to whom we owe esteem and reverence and even adoration if they be far above us. ”

“ It would seem that adoration is not an act of latria or religion. The worship of religion is due to God alone. But adoration is not due to God alone: since we read (Gn. 18:2) that Abraham adored the angels; and (3 Kings 1:23) that the prophet Nathan, when he was come in to king David, "worshiped him bowing down to the ground." Therefore adoration is not an act of religion. ”

“ Just as prayer is primarily in the mind, and secondarily expressed in words, as stated above (Q [83] , A [12] ) , so too adoration consists chiefly in an interior reverence of God, but secondarily in certain bodily signs of humility; thus when we genuflect we signify our weakness in comparison with God, and when we prostrate ourselves we profess that we are nothing of ourselves.
Reply to Objection 3: Though we cannot reach God with the senses, our mind is urged by sensible signs to approach God.
Art. 3 - Whether adoration requires a definite place? ”