The inner essence of worship is treasuring Jesus as infinitely valuable above everything.  The outer forms of worship are the acts that show how much we treasure God.  Therefore, all of life is meant to be worship because God said whether you eat or drink or whatever you do–all in life–do it all to show how valuable the glory of God is to you.

Piper’s Whole Article

Self-righteousness can feed upon doctrines as well as upon works;  and a man may have the heart of a Pharisee, while his head is stored with orthodox notions of the unworthiness of the creature and the riches of free grace.