Here’s an article on DIES DOMINI that presents a concise survey of the Catholic perspective:
diesdomini.com/Papers/Q_Icons_primer.pdf
Page 3 is especially pertinent to the question of whether images should be venerated. I will reproduce an excerpt below for the sake of everyone on this thread:
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Having established that the commandment against idolatry does not exclude the creation of lawful images—even of Christ—one wonders how such images should be handled. Veneration includes the holy reverence due sacred objects—for example, Bibles. As the written Word ofGod, Bibles are handled with reverential care: they are not rudely thrownagainst a wall, nor are their pages ripped in half. Likewise, reverence is due in a sacred setting, such as a Church sanctuary. Screaming, jumping, andrough play are improper in a room consecrated to the worship of God.Articles within the sacred setting (including hymnals and pews) alsoparticipate in the sacred atmosphere proper to the place of worship, andare due commensurate reverence (one should not jump on a pew); they themselves become sacred objects.
Similarly, the images within the Temple were, by virtue of their cultic setting, consecrated to God (as also the other temple furnishings). They too participated in the sacredness of the Temple, and thus received the shared reverence proper to that holy ground. In fact, the images were instrumental in creating that sacred space: concentrating the mind of the priest upon the mysterious, sacred realities of his ministry.
In Christian practice, images of Christ are special by virtue of the Personage represented in them; it would be disgraceful to deface an image of Jesus…
Practical manifestations of veneration differ from culture to culture and century to century, though some traditional forms persist from antiquity. One such form of reverence is the kiss, which Jews offer the Torah, Siddur (prayerbook), and Tallit (prayer shawl) during a synagogue service. Another is a bow, which Jews also offer the Torah and Ark (where the Torah scrolls are kept) in a synagogue. Christianity inherited similar instincts: Catholics and Orthodox Christians kiss or reverently bow towards altars, Bibles, and icons in their sacred spaces (Churches). Incense and candles are also used to reverence sacred space and the articles within it—especially altars, Bibles, and icons.
The Second Council of Nicaea (the seventh ecumenical council, 787 CE) limited the veneration of icons to those forms of reverence proper and common to all other sacred articles within the Church. All illegitimate forms of reverence—including that worship proper to God Himself—are excluded:
To [icons] should be given due salutation and honorable reverence, not indeed that true worship of faith which pertains alone to the Divine nature; but to these, as to… the Book of the Gospels and to the other holy objects, incense and lights may be offered according to ancient pious custom.
(Definition of the Second Council of Nicaea, 787).
Thus, the legitimate reverence due lawful icons is not qualitatively distinct from that due other sacred articles or spaces: the Bible or Church Sanctuary. All are consecrated to the use of God; they therefore receive like reverence, in whatever form is culturally common. By contrast, those images forbidden by the third commandment (falsely representing Divinity by earthly forms) are unlawful either to make or reverence.