Those relationship with God and all the saints do involve rational abilities, but they are not the foundation of it. Above all, that is what icons remind me of. I am there to meet the Body of Christ in humble submission to God. I know of no other basis for worship. There does seem to be less focus on us and more upon God.
Instruction is good and needed.
It is considered as one of the sacraments of the liturgy and any priest who does not take it seriously is not taking his ordination seriously. But it is based in the encounter of Christ in the Eucharist and does not stand alone. That is one of the big losses in many Protestant denominations. When the sermon takes the primarily place in worship, worship is shaped towards talking and learning about God rather than encountering God. This does not mean that it is impossible to encounter God in such a setting.