“Come let us worship” has been used for this for at least 50+ years, my whole life.
I always understood it as us worshipping Jesus, the Savior of the World, God, etc. We are not worshipping the cross.
Most of the churches I’ve attended also used a great big crucifix with a Jesus on it for this, and when people went up to venerate they were kissing Jesus’ feet, not the cross.
I noticed that in the Missalette this year, the wording was printed as “Come let us adore” so maybe that is because people like the OP get confused. However, the cantor who was singing the sung parts of the service still used the traditional “Come let us worship”.
(Also there was not a Jesus on the cross used at the church I went to, which made me a bit bothered as a plain cross strikes me as Protestant, but I’ll make another thread about that.)
Bottom line:
We’re not worshipping a wooden cross, we’re worshipping Jesus.