I agree about changing the words, and I thought maddyone’s suggestions are a good start. I don’t think it’s equivalent to worshipping a person. We sing hymns asking God to save ‘those in peril in the sea’ without worshipping sailors. I can see it’s an issue for non believers, but HM is Head of the CofE.
Last weekend, in Rutland, the first statue in Britain of the late Elizabeth II was unveiled.