Muslims believe in all of the true prophets that preceded Muhammad, from Adam to Jesus. Muslims believe they brought the same message of voluntarily surrendering to God’s will (islam, in a generic sense) to different peoples at different times. Muslims also believe they were “muslims” (again, in a generic sense) since they followed God’s true guidance and surrendered their will to Him.
Muslims neither worship Muhammad nor pray through him. Muslims worship the Unseen, Omniscient Creator, Allah.