Respectful and humble language
Honorific language is not a rule for making every verb longer. Identify who acts and who is being shown respect before choosing a respectful or humble expression.
Show respect for someone else's action
先生がいらっしゃいます。 can mean that the teacher comes, goes, or is present, depending on context. いらっしゃる is a respectful counterpart of 行く, 来る, and いる, so use the situation to identify the action.
召し上がる is a respectful counterpart of 食べる and 飲む. 先生はお茶を召し上がりました。 means 'The teacher had some tea.' The teacher remains the actor; the expression adds respect.
Use a humble expression for your side
先生の研究室に伺います。 humbly states that the speaker will visit the teacher's office. 伺う（うかがう） is used for actions such as visiting, asking, and hearing, so context determines the particular meaning.
資料を拝見しました。 humbly states that the speaker has looked at the materials. 拝見する corresponds to 見る. Humble language is a way to express respect within a relationship, not a judgment that the speaker has less personal worth.
Check the actor and group relationship
Using a respectful verb for your own action, as in 私が召し上がります, reverses the basic direction. First identify the actor, then decide whether to honor the other person's action or use humble wording for your own side.
Group relationships matter too, such as when discussing your manager with someone outside the company. Do not choose a verb from age alone; practice connecting each basic example to the actual listener and actor.
Check: Can you use 拝見しました to humbly say that you looked at some materials?
Show the answer and why
Yes. 資料を拝見しました。 describes your own action. 拝見する is a humble counterpart of 見る.