In my opinion Sam worships Frodo all the time. When they start their journey, Sam sees a kind of idol in Frodo. But as time went on, Sam becomes more and more secure of himself. He stays at Frodo's side, but not to admire him or to worship him, but to help him as a real close friend. Frodo is not the strong character he is at the beginning of the story, and Sam becomes stronger and stronger.
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