Let us be grateful for receiving a kingdom that cannot be shaken, and thus letus offer to God acceptable worship, with reverence and awe.
Because of this verse (and others) we follow the regulative principle of worship, understanding that how God is to be worshiped is laid out in scripture, as opposed to the normative principle of worship where any sort of worship that is not prohibited by scripture may be used.
In Genesis 4:3-8, even prior to any such proscription, we see that Cain's worship was rejected as unacceptable while Abel got it right. Cain had given the produce. Abel sacrificed the producer.
We each receive an unshakable "kingdom". We each receive 7 days a week. And in gratitude for that gift, we are told in Exodus 20:8-11 to sacrifice one day, during which we could have been the producer. We worship by sacrificing that day. And during which we sing, pray, read scripture, receive instruction, and receive the sacraments.
So strictly speaking, it is in duty, rather than worship, that we bring the tithes and offerings. For our produce is never acceptable worship.