Certainly in the Bible Queen of Heaven is mentioned in referrence to an idolatrous practice.
Now, on this point, in all fairness to everyone, we should note that a great many false religions contain true doctrines. For example, the Zoroastrians believe in God, the devil, and a hierarchy of angels and archangels (indeed Zoroastrian angelology is extremely complex, yet in many respects similar to Judeo-Christian angelology). The Egyptian pagans believed that Pharaoh was an incarnate god, and believed in a joyous afterlife. For that matter, Orthodox Judaism believes in most of what we believe in as Christians, but they reject Jesus Christ as the Messiah and accept the Talmud, both of which are severe and unfortunate errors.*
There are many other instances of otherwise false religions containing some truth to them, although only Christianity has the fullness of the truth.
In the specific case of West Semitic Paganism, we see this pattern again, which I believe you are referring to, we do have Astarte or Asherah, who in the Ugaritic Canaanite tradition, however, this deity, which was closely linked to El and Ba’al, and in Egypt there was apparently even a temple where Asherah was linked to the worship of Yahweh. Now the important thing to consider is that our God (known as Yahweh, Yah, El, Elohim, El-Elyon and Jesus Christ, a Hellenization of Joshua, which means “Yah Saves”, and of course Yah or Yahwej means “I AM” or “I AM that I AM”, which our Lord also identifies as, and El is a generic West Semitic word meaning God, related to the Aramaic Alaha and the Arabic Allah (which are the words Syriac and Arabic speaking Christians use to refer to God, respectively), is the real God, and various idolatrous distortions of His worship including, for example, the depiction of Him as a bull, do not change that.
In the case of Roman Catholicism, since Jesus Christ is the Mother of God, I see no basis for rejecting the idea that she is akin to a Queen Mother of Heaven. Certainly she is the most venerable Christian who ever lived, in that she was closer to God than anyone else, having raised Him in the person of the Son from infancy to adulthood, and her intercession at the wedding feast in Cana was enough to cause him to convert water into wine, a miracle He worked before His ministry had begun, as is evident from the Gospel according to St. John, and this is extremely important to consider and recall. We can likewise interpret His making the Virgin Mary the mother of the Beloved Disciple as being more than her entrusting the care of St. John to the Theotokos; it seems evident that this act was really entrusting the care of all of the beloved disciples, which is to say us, the Church, to her.
What would be an error would be what a group within Roman Catholicism that believes in the visions of Ida Peerdeman, a Dutch woman who had encounters with something which called itself “The Lady, which was once called Mary” and who made on one occasion, if Peerdeman is to be believed, a threat accompanied with a clenched fist, advocates: “the Fifth Dogma,” in which they are basically calling for the Pope to declare ex cathedra a new doctrine, that Mary is the Co-Redemptrix. This is a huge error, and the motivations for it are at least in part derived by visions on the part of Ida Peerdeman that the Congregation for the Doctrine of Faith, the Roman Catholic body responsible for, among other things, evaluating claims of private revelations, declared unworthy of belief. I myself think that Ida Peerdeman was visited by, and fell victim to the deceit of, a sinister entity, a demon of some sort, and it is an extremely sad story, and I wish the Roman Catholic Church, aside from merely refusing to accept the visions of Ida Peerdeman as legitimate, would do something to actively warn the faithful about it and try to shut down the whole “Fifth Dogma” movement, but I expect we will have to wait at least until Pope Francis retires.
*Karaite Jews reject the Talmud but also still deny Christ, and also curiously do not believe in the devil; they consider the serpent in the Garden of Eden to be an unusually intelligent and cunning snake, which I have to confess I find very funny.
