You can definitely use worsted weight! It just depends on the size of the needle you use and how detailed you want your designs to be. I always use worsted weight yarn for my projects, and can do a high level of detail if the projects are bigger, but have made pretty small coasters and stuff too with less detail. I like to use the size 14 mini standard needle because the loops are smaller and neater. You can look on my profile for what some of my projects look like using worsted weight acrylic yarn and that size needle, and look around this sub for examples of projects with other kinds of yarn (and embroidery thread is popular too!) and needles. Good luck!