The only organized religion that is true, is God's church. Anyone who requires you to be a member of their church / denomination / group / institution instead of letting you have direct contact to God is leading you astray. Anyone who demands actions from you that are not in the Bible is wrong. For example, no mere mortal should be your intercessor.
In the Old Testament, God's laws were laid down through Moses. In the New Testament, Jesus Christ (Yeshua HaMashiach) fulfilled those laws and began His church.
Matthew 16 - "on this rock" - IN CONTEXT!
The word for “Peter,” Petros (a small stone) (John 1:42). Jesus/Yeshua used a play on words here with petra (“on this rock”) which means a foundation boulder, as in Matthew 7:24, 25 when He described the rock upon which the wise man builds his house.
If the translators replaced the second "and" in verse 18 with "but" it would have been clearer to the average reader.