With his elevated view...
With his elevated view, he perceives his submission to God’s presence as sinful and even an action far from politeness. The Prophets and the divinely-appointed Imams have reached this point.
Since they realize the Magnificence of their Lord and comprehend the position of the Life-Giver, they see themselves, their activities, and their prostrations and praises so little that they interpret the worship of that much affluence and greatness as sin, and with supplication and invocation, they ask for pardon and they hope for forgiveness. When they face the divine commandments and consider the Holy Position of the Almighty, they submit themselves to the Master.
They see their action in front of the Lord as nothing and recognize it as not suitable for praise. They hope it would be accepted by the Generosity and Majesty of the Creator, otherwise, it is a sin to submit such inadequate worship to the Holy Presence of the Lord. Those people like the and his Ahlul-Bayt (peace be upon them all) realized the Divine position with a much wider view. Continuously upon the two wings of knowledge and action, they progressed to a higher and superior position.
They were, at every moment, finding out more about the Magnificence of the Life-Giver of the world, and more about their own needs; consequently better understanding of their inadequate actions in comparison with that much Power and Greatness.
To compensate for that, they confessed to their sins and asked the Lord for permission to apologize with the excuse that they cannot do to the extent of what Allah deserves, and with the hope that He would guide them to a higher and superior position until they could continue their development process in order to reach the sublime morality. Now the verse you mentioned should be understood in this context. No human could worship Allah to the extent that Allah deserves to be worshipped.
It is like one wants to pay an infinite debt by finite resources. Thus everybody is sinful and shameful in front of His Glory. The closer to God, the more shameful of your insufficient worship in front of God you are. Let me also give you proof from Quran that “Dhulm” for prophets has a much different meaning. Allah, to whom belong Might and Majesty states in the Quran: “And when Abraham was tested by his Lord with certain commands and he fulfilled them. Then He said: Lo!
I appoint you an Imam for mankind. (Abraham) said: And of my offspring (will there be Imam)?