Adam Clarke on Joshua 5:14

But as captain of the host of the Lord am I now come - By this saying Joshua was both encouraged and instructed. As if he had said, "Fear not; Jehovah hath sent from heaven to save thee and thy people from the reproach of them that would swallow thee up. Israel is the Lord's host; and the Lord of hosts is Israel's Captain. Thou thyself shalt only be captain under me, and I am now about to instruct thee relative to thy conduct in this war."

And Joshua - did worship - Nor was he reprehended for offering Divine worship to this person, which he would not have received had he been a created angel. See Rev 22:8, Rev 22:9.