I'd not necessarily agree with that last point, Art:
If you mean prayer as communication with an entity you worship and venerate, then, yes, praying to anything as God is heresy, because God is the only being to be worshiped.
If it's merely an act of communication with a deceased one - maybe a saint or just some ancestor - it's not heresy, I'd say, as long as you don't mean to venerate and worship the dead person, but to communicate with it and ask it for intervening with God on your behalf then I don't see how that is heresy. It might indeed be 'going through the proper channels'. Worst case it is heterodox.
having a shrine dedicated to ancestors in your household might not be orthodox either, but it's certainly not a bad idea to pray for their spiritual wellbeing in their past life, so a dedicated space for that isn't a bad idea either, no?
If Khanids just declare some of their ancestors 'Saints' that is of course heresy. It also shows how infantile they are in regards to these things. ;P