Are dulia, hyperdulia, and latria just different levels of worship, and can we honor Mary as Israel honored David?

No. In 1 Chronicles 29:20 the assembly worshiped the Lord and did obeisance to the king; they worshiped God, but they bowed to David in honor of his authority, not in worship. That is actually a good analogy for the hyperdulia given to Mary. Latria is the worship given to God alone. Hyperdulia is the greater honor given to Mary, because unlike the other saints and even the angels, she is the Mother of God, so she deserves a greater honor for that role. But it is never worship, because Mary is not divine. It is very simple.