Yes, of course we do.  Jesus clearly stated that he intended to create a Church, based in Rome, organized upon a mix up of Roman and Feudal systems, promulgating laws and rules and rituals, all of which, at any given time, must be followed scrupulously by the people of the Church, or else its straight to Hell, until the laws and rules and rituals are altered, then the new ones, which are the ancient traditions of the unchanging church must be followed, or no salvation allowed.  It is all quite rational and a completely logical extension of  the cited gospel passage.