Or the simple way to get them to the Worship status is to simply screw them until they get to that point, prisoners can't resist (servants can & typically won't agree to it before at least being at the Love level unless they have the Perverted trait). This does take a while to do from lower relationship levels however, so you could always find something else to do while the game does it's thing & eventually maxes out the relationship level.
EDIT: Alternatively, you could just wait if you aren't hurting for more servants or running out of prison space, their level will increase over time just by staying in prison waiting to be released (normally I'll strip them of all their equipment while imprisoned, not sure if that has any affect or not however).