In this clip, Dr. Doofenshmirtz tells Perry the Platypus to "have a taste" of his ray gun. He isn't proposing that Perry literally taste the gun; he is telling Perry to experience it.
In this clip, Candace has to answer a call and tells her mother she is "taking" it. This is an idiom; one does not "take" a call so much as they answer it.
This clip, where Dr. Doofenshmirtz uses the word "worship" to describe fans' devotion to car racing, illustrates the use of a word in a nonliteral sense for rhetorical effect.