"Pray":
Protestant or "other" Christians object to the Catholic practice of praying to folks in heaven. They see it as idolatry because to non-Catholics (Orthodox Christians excluded) use "pray" only in the sense of worshiping God. But a Catholic's prayer to a soul in heaven is not worship, therefore it is not idolatry. It is merely asking favors of our elder bretheren who are presently in heaven, seeking them to pray for us to God (in addition to our own prayers to God as well). This is exactly the same as my asking a brother on earth to pray for me. (The only remaining contention, then, would be whether or not our bretheren in heaven can hear us or pray for us, but that's a discussion for another thread). Catholic usage of the term "pray" is in line with historical usage (both in and out of Scripture) of English. For example, the original English edition of the novel Le Morte D'Artur uses "pray" in the petitional context. That book's English is contemporary with King James English.
In the New Testament "Pray" is most often used in context of petitioning and worshiping God but is also used to ask someone who is not God for a favor. These are two classical meanings of pray and KJV uses both. You're familiar with the plethora of instances of "pray" in context of petitioning/worshiping God, but Scripture also uses the mundane petitional meaning. Here are Bible examples of the mere petitional usage, asking a specific person for a favor:
Mark 5:17 And they began to pray him to depart out of their coasts.
Mark 5:18 And when he was come into the ship, he that had been possessed with the devil prayed him that he might be with him.
Mark 5:23 And besought him greatly, saying, My little daughter lieth at the point of death: I pray thee, come and lay thy hands on her, that she may be healed; and she shall live.
Luke 14:18 And they all with one consent began to make excuse. The first said unto him, I have bought a piece of ground, and I must needs go and see it: I pray thee have me excused.
Luke 14:19 And another said, I have bought five yoke of oxen, and I go to prove them: I pray thee have me excused.
Luke 16:27 Then he said, I pray thee therefore, father, that thou wouldest send him to my father's house:
John 4:31 In the mean while his disciples prayed him, saying, Master, eat.
Acts 8:34 And the eunuch answered Philip, and said, I pray thee, of whom speaketh the prophet this? of himself, or of some other man?
Acts 10:48 And he commanded them to be baptized in the name of the Lord. Then prayed they him to tarry certain days.
Acts 16:9 And a vision appeared to Paul in the night; There stood a man of Macedonia, and prayed him, saying, Come over into Macedonia, and help us.
Acts 23:18 So he took him, and brought him to the chief captain, and said, Paul the prisoner called me unto him, and prayed me to bring this young man unto thee, who hath something to say unto thee.
Acts 24:4 Notwithstanding, that I be not further tedious unto thee, I pray thee that thou wouldest hear us of thy clemency a few words.
Acts 27:34 Wherefore I pray you to take some meat: for this is for your health: for there shall not an hair fall from the head of any of you.
2 Corinthians 8:4 Praying us with much intreaty that we would receive the gift, and take upon us the fellowship of the ministering to the saints.
