Worship v Veneration

I've often wondered what the difference between worship and veneration is. In particular, with respect to the veneration of Saints and Angels vs the worship that is only for God. Superficially it seemed like a distinction without a difference particularly where it comes to prayer...

But The Lord of Spirits podcast clarified it for me. Christian worship of God involves two things that veneration does not include. In Christian worship two things are offered to God. They are incense and the Holy Oblation (the sacrifice of the Eucharist).

This distinction not specifically called out, per se, but it is found in a number of passages. For example this can be seen in this Old Testament prophecy of the Church:

Malachi 1:11 For from the rising of the sun even unto the going down of the same my name shall be great among the Gentiles; and in every place incense shall be offered unto my name, and a pure offering: for my name shall be great among the heathen, saith the LORD of hosts.

Both of these two elements are present in the Christian worship; incense and the pure offering.

The same thing is found in this passage in Revlations:

Revelation 8:3-4 And another angel came and stood at the altar, having a golden censer; and there was given unto him much incense, that he should offer it with the prayers of all saints upon the golden altar which was before the throne. And the smoke of the incense, which came with the prayers of the saints, ascended up before God out of the angel's hand.

Angels play an intermediate/intercessory role. They take the prayers of all saints and present them to God on the altar. 

But why is there an altar?  It is connected to the Eucharist where the life of God the Son is given to His people. The early part is the earthly altar and the heavenly part is the Heavenly altar. The two are connected together in the Liturgy.