Joe claims that the Jews thought they only could worship God in Jerusalem where they offered sacrifice. That is obviously false (and Joe won't admit this of course doing what he does)
In Daniel 3:17, Daniel explicitly says he serves God. The Hebrew term פָֽלְחִ֔ין (the nominal being "pelach") is the term the LXX translates with "latreuo" and itself refers to divine worship in Daniel. In the book of Daniel, in fact, the term exclusively is given to deity. His claim would entail that Daniel never "really" worshipped God.
And of course the command to love God with all our heart, mind, and soul and worship him with these things is obviously not limited to the place where you make material sacrifice.
But of course, he will try to weasel/lawyer out of it by saying "well that is only latreuo improperly and not properly".
But if that were true, Angels could never "really worship" God. Aquinas refutes this well. Sacrifice is offered to God alone; this does not mean you can only offer such sacrifices via a material altar:
"I answer that, As stated above (Article 1), a sacrifice is offered in order that something may be represented. Now the sacrifice that is offered outwardly represents the inward spiritual sacrifice, whereby the soul offers itself to God according to Psalm 50:19, "A sacrifice to God is an afflicted spirit," since, as stated above (II-II:81:7; II-II:84:2), the outward acts of religion are directed to the inward acts. Again the soul offers itself in sacrifice to God as its beginning by creation, and its end by beatification: and according to the true faith God alone is the creator of our souls, as stated in I:90:3; I-II:118:2, while in Him alone the beatitude of our soul consists, as stated above (I-II:01:8; I-II:2:8; I-II:3:1 and I-II:3:7 and I-II:3:8). Wherefore just as to God alone ought we to offer spiritual sacrifice, so too ought we to offer outward sacrifices to Him alone: even so "in our prayers and praises we proffer significant words to Him to Whom in our hearts we offer the things which we designate thereby," as Augustine states (De Civ. Dei x, 19)."