As a Christian, I don’t believe God needs our worship so much as we need worship to understand God. I also, by the way, don’t believe that worship can only be accomplished in church on Sundays, or something that you get only through big shows of religiosity. In fact, I think that today’s consumer-driven churches can often be more an impediment to worship than a help.
The Bible says quite a lot about worship being more than just performing the proper rituals or believing the right things; many passages suggest that the worship God desires is to center our lives defending the marginalized and standing up for justice.
“Is this not the fast I choose; to loose the bonds of injustice, to undo the thongs of the yoke, to let the oppressed go free, and to break every yoke? Is it not to share your bread with the hungry, and bring the homeless poor into your house; when you see them naked, to cover them, and not to hide yourself from your own kin?” (Isaiah 58:6-7)
“…what does the LORD require of you but to do justice, and to love kindness, and to walk humbly with your God?” (Micah 6:8)
“Take away from me the noise of your songs; I will not listen to the melody of your harps. But let justice roll down like waters, and righteousness like an ever-flowing stream.” (Amos 5:23-24)
“Truly I tell you, just as you did not do it to one of the least of these, you did not do it to me.” (Matthew 25:45)
“Religion that is pure and undefiled before God, the Father, is this: to care for orphans and widows in their distress, and to keep oneself unstained by the world.” (James 1:27)
That’s just a few I could think of off the top of my head, but there’s much more in the Bible that goes along the same theme.
Unfortunately, Biblical literalists are really selective literalists and place much more of an emphasis on passages suggesting exclusivism. As a former literalist myself, I must say that mainline Christians tend to read the Bible with a much more consistent hermeneutic, even if we avoid a literalistic approach.