However, we learn that servants should serve their masters (Ephesians 6:5; Colossians 3:22; I Timothy 6:1; Titus 2:9; I Peter 2:18); that wives should submit to their husbands (Colossians 3:18); and that children should obey their parents (Colossians 3:20).
We should serve God alone. God has ordained certain authorities in our lives (parents/children, masters/servants), and God commands us to obey them. Thus, by obeying God-ordained authority, we are serving God. However, if anyone commands us to do something contrary to God, then we obey God, not man. And certainly, we are not to worship false gods or the devil (this was the context of Matthew 4:10).
In Matthew 23:10, Jesus is speaking of religious titles, not secular ones (read from the beginning of the chapter), and so this verse does not apply to this topic.
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