I have a hard time coming to a definite conclusion on this subject... especially in regard to the RCC. I was raised, in my youth RCC, but found it not to my liking. I basically turned my back on God way back then. After years and years, I was taught other ways and learned from the Bible. I do believe that there are those in the RCC you are saved - they of course don't hold to all the RCC's teachings. Still, they stay for mixed reasons, and I don't begrudge them that.
Many of them, when asked, would talk about "veneration" in a manner that I'm sure that many of you have already heard - that it's not that they worship Saints and Mary, but rather simply have a high regard for some of them. And here, I would argue with the OP's definition of the word "venerate" and side with those in the RCC that sincerely make that distinction. Because from my understanding of the word "venerate", most dictionaries and books of Etymology won't rate the word "worship" is a common use synonym. Don't get me wrong "worship" is indeed a synonym, it's just lowly ranked. (Often times synonyms for a word evolve from misusage/out-of-context.)
Regardless, if people have a high regard for a person of Faith and able to add prayers to God in their favor, who am I to object to that? Now I will say, also, that the person's understanding of why they hold some in high regard is important to me. Take the RCC's story about Mary's supposed elevation into some Uber Menchen, is just flat out wrong, IMHO. Still again, while I also believe that the mere fact that not being perfect, technically, is a sin too - I think Jesus' atonement covers that for us all - so I don't need my friend's to be perfect either.
I just pray God to open their eyes and give them understanding.