In your own personal prayers, you may ask for the intercession of any deceased person whom you reasonably believe is in Heaven. Obviously this would include Servants of God, since they have a sainthood cause and would not have even made it that far if they weren’t reasonably believed to be in Heaven.
Public devotions to a Servant of God, such as a prayer group meeting at your church asking the Servant’s intercession or a large group novena to them on the Internet, requires permission from an appropriate ecclesiastical authority. For a group at your parish, you’d get permission from the parish priest. For a group in a diocese, you’d get permission from your bishop. Etc.