Hebrews 1:6 is only directed toward angels at the time of "when" He brings His firstborn into the world.
There are no commandments for Christians to worship Jesus.
As Jesus prescribed in John 4, the only one we are to worship is the Father.
The Greek ἄγγελος, literally means MESSENGERS, SOMEONE WHO IS SENT. This can apply to every single person!
Jesus Christ clearly accepted WORSHIP when He was on earth. He never rebuked anyone from doing so! He never said, you must not WORSHIP Me, only the Father!
Matthew 8:1-2; “When He had come down from the mountain, great multitudes followed Him. And behold, a leper
came and worshiped Him, saying, “Lord, if You are willing, You can make me clean.”
Mark 1:40; “Now a leper came to Him,
imploring Him, kneeling down to Him and saying to Him, “If You are willing, You can make me clean.”
Matthew 9:18-19; “ While He spoke these things to them, behold, a ruler
came and worshiped Him, saying, “My daughter has just died, but come and lay Your hand on her and she will live.” So Jesus arose and followed him, and so
did His disciples”.
Mark 5:22-23; “ And behold, one of the rulers of the synagogue came, Jairus by name. And when he saw Him,
he fell at His feet and begged Him earnestly, saying, “My little daughter lies at the point of death. Come and lay Your hands on her, that she may be healed, and she will live”
Matthew 14:33; “Then those who were in the boat
came and worshiped Him, saying, “Truly You are the Son of God”
Matthew 15:24-26; “But He answered and said, “I was not sent except to the lost sheep of the house of Israel.” Then
she came and worshiped Him, saying, “Lord, help me!” But He answered and said, “It is not good to take the children’s bread and throw
it to the little dogs”
Mark 7:25; “For a woman whose young daughter had an unclean spirit heard about Him, and
she came and fell at His feet”.
Matthew 20:20-21; “Then the mother of Zebedee’s sons came to Him with her sons,
kneeling down and asking something from Him. And He said to her, “What do you wish?” She said to Him, “Grant that these two sons of mine may sit, one on Your right hand and the other on the left, in Your kingdom”
Matthew 28:9-10, 16-17; “And as they went to tell His disciples, behold, Jesus met them, saying, “Rejoice!” So they came and
held Him by the feet and worshiped Him. Then Jesus said to them, “Do not be afraid. Go
and tell My brethren to go to Galilee, and there they will see Me… Then the eleven disciples went away into Galilee, to the mountain which Jesus had appointed for them.
When they saw Him, they worshiped Him; but some doubted”.
Luke 24:51-53; “Now it came to pass, while He blessed them, that He was parted from them and carried up into heaven.
And they worshiped Him, and returned to Jerusalem with great joy, and were continually in the temple praising and blessing God. Amen”
Same Greek word in every case!