esteem vs venerate

esteem is a noun but venerate is not a noun.

Word	Noun	Adjective	Verb	Adverb
esteem	Yes	No	Yes	No
venerate	No	No	Yes	No

As verbs, venerate is a hyponym of esteem; that is, venerate is a word with a more specific, narrower meaning than esteem:

esteem: regard highly; think much of
venerate: regard with feelings of respect and reverence; consider hallowed or exalted or be in awe of

Other hyponyms of esteem include think the world of, fear, revere, reverence, admire, look up to.

esteem (noun)	venerate (noun)
an attitude of admiration or esteem
a feeling of delighted approval and liking
the condition of being honored (esteemed or respected or well regarded)

esteem (verb)	venerate (verb)
look on as or consider	regard with feelings of respect and reverence; consider hallowed or exalted or be in awe of
regard highly; think much of