The Great Commission is our marching orders from Jesus himself! Let’s look at it together:
Mat 28:18 And Jesus came up and spoke to them, saying, "All authority has been given to Me in heaven and on earth.
Mat 28:19 "Go therefore and make disciples of all the nations, baptizing them in the name of the Father and the Son and the Holy Spirit,
Mat 28:20 teaching them to observe all that I commanded you; and lo, I am with you always, even to the end of the age."
First, we see that this is very important! Jesus is saying that God has given him all the authority to say what he is about to say. First to what he says is that we are to make disciples, not just worshipers, although that is a part of it. And the disciple is baptized not just in Jesus’ name alone, but the Father, the Son (Jesus), and the Holy Spirit. So, yes, disciples are to worship Jesus but disciples are to worship the one true God who is three-in-one (the Trinity).
Also Jesus asks us not just to worship as disciples but to learn. Personal growth is required. We need to teach them all things that Jesus has commanded. While worship is one thing Jesus commanded, he also taught a lot more!
Rick Warren gets three purposes from this commission: Evangelism (telling others about God), Discipleship (personal growth and learning, becoming more like Christ), and Worship (honoring God).
And finally, “I am with you always.” Jesus is encouraging the disciples here to obey him. Obey me and I will never leave you. And it is true even for us today, as the Holy Spirit is always with us!