As God He can demand our undivided loyalty.
Jesus repeated that same command in
Matthew 22:33-40 and in
Mark 12:28-34. We are to love God with all our heart (emotions), soul (eternal part of us), mind (intellect) and strength (serve Him physically).
Jesus did not demand worship of His disciples when He was here as a man.
Matthew 28:9 says that some of His disciples held Him by His feet and worshiped Him when they saw Him in His resurrection body. Also Thomas called Him "my Lord and my God" (
John 20:28) and was commended for it. Saul of Tarsus called Him "Lord" and submitted to Him on the road outside Damascus (
Acts 9:5-6). John the Revelator saw Him and fell down at His feet (
Revelation 1:17)