This past Sunday the Gospel was the story of Christ's encounter with the Samiritan woman at Jacob's well, which features the word "worship." In Greek: προσκυνεῖν (proskynein). The Latin word used in the neo-Vulgate is adorare.
For Aquinas, he discusses the virtue of religio, under which he talks about latria (and adoratio) in (II II ae) Question 84.
There is no Latin for Gaudete et Exsultate yet, so I am not sure what the English word "worship" is translating. In the CCC, worship translates adorare/adoratio. But in the CCC, worship is also used to translate the word cultus. (Similar to how the English word was used to refer to any form of reverence and also to that which is due to God alone?)
Edit. I remembered to check the Italian text for Gaudete et Exsultate: "worship" corresponds to both culto and adorazione in the Italian text.
Old Catholic Encyclopedia: Christian Worship