Worshipping ought to be a personal experience. At the philosophical level, the object of worship is worship itself. Nothing is sought as the end result. However, in order to reach that advanced level, we need to begin and practice praying systematically so that our faith in the Supreme Being is gradually strengthened.
Faith is the critical element without which any ritual or religious practice is meaningless.
Whatever is sacrificed, offered or performed and whatever austerity is practiced without faith, it is falsehood, Oh Arjuna. And further, it is of no value either here or hereafter. However we need to understand and follow a systematic procedure. Further we need to create an environment in order to immerse ourselves in bhakti. This is precisely the logic in having puja rooms in Hindu households.