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Roman Catechism
Veneration And Invocation Of Angels And Saints Not Forbidden By This Commandment
In explanation of this Commandment it should be accurately taught that the veneration and invocation of holy Angels and of the blessed who now enjoy the glory of heaven, and likewise the honour which the Catholic Church has always paid even to the bodies and ashes of the Saints, are not forbidden by this Commandment. If a king ordered that no one else should set himself up as king, or accept the honours due to the royal person, who would be so foolish as to infer that the sovereign was unwilling that suitable honour and respect should be paid to his magistrates? Now although Christians follow the example set by the Saints of the Old Law, and are said to adore the Angels, yet they do not give to Angels that honour which is due to God alone. And if we sometimes read that Angels refused to be worshipped by men, we are to know that they did so because the worship which they refused to accept was the honour due to God alone.