Worship involves more than singing and prayer. We’re commanded, “Always be joyful. Never stop praying. Be thankful in all circumstances” (1 Thessalonians 5:16-18). We know that God expects us to do many different things on Earth, such as work, rest, and spend time with our families. So if we are to be joyful, pray, and give thanks all the time, we must worship God even while doing other things. Same deal in Heaven.