No, Muslims do not worship Prophet Muhammad PBUH. He is just a Prophet of God, just like Jesus is a Prophet a God, and Moses is a Prophet of God, and Abraham, Noah, David, Solomon, John, Adam, and the rest of them, peace be upon them all. Muslims only worship one God, and that is Allah, The Creator of the Heavens and Earth, The King, The Eternal Refuge. The Prophet’s only came down with their message and revelation from Allah, so Muslims respect every single one of them and believe in every single one of them, but they never worship them. It was narrated that Umar heard the Prophet PBUH saying, “Do not exaggerate in praising me as the Christians praised the son of Mary, for I am only a Slave. So, call me the Slave of Allah and His Apostle” (Sahih Bukhari 3445). This is our view of the Prophet Muhammad PBUH.
And Allah knows best.