Stand up, etc. This does not imply that Peter supposed that Cornelius intended to offer him religious reverence. It was practically saying…

As Peter was brought into the centurion’s home past the gatehouse and then into the courtyard, Cornelius came from his living quarters to meet him.…

But Peter took him up
As he lay at his feet, and lifted him up and set him on his legs:

saying, s…

When we see our call to any service as clear, we should not be perplexed by doubts and scruples arising from prejudices or former ideas.