How do Catholics answer the question of idol worship within the faith?

I'm in no way trying to be disrespectful or anything like that and please do not take it as such. I would like to know how Catholics reconcile the fact that the Bible states: 4. Thou shalt not make unto thee any graven image, or any likeness of any thing that is in heaven above, or that is in the earth beneath, or that is in the water under the earth. 5. Thou shalt not bow down thyself to them, nor serve them: for I the Lord thy God am a jealous God, visiting the iniquity of the fathers upon the children unto the third and fourth generation of them that hate me; -- Exodus 20:4-5 If you walk into any Catholic Church, one sees not only statues of Christ, but also of Mary and several saints. Catholics then go up to these statues, kneel, and start praying. They also carry around necklaces with these saints and put up shrines to these saints in their homes. How is this not in direct violation with the commandments? In similar post on this form, the person answering that question said that these things are not idols, but instead are sacramental, but to me, it still looks like idol worship under a different name.