I believe helping the poor is an act of service and acts of service can be a form of worship. It is important to remember though that along with acts of service it is important to have faith. One without the other is basically for nothing.
There are many forms of worship including praying, singing, even dancing although some denominations frown on that sort of thing (Footloose anyone?).
Aside from the religious aspect of it, there is also the love languages line of thought. In that way too acts of service are a love language.
I think if you feel you are being led to help the poor, you will probably not go wrong if you follow that instinct. Whether you or someone else labels it worship or not, it is really just doing what you have to to be a decent human being. If we were all a little more giving of ourselves the world might be a better place.