politeness - With whom to use different honorific forms? 丁寧語より尊敬 語・謙譲語・丁重語

With whom is it considered proper to use 尊敬語・謙譲語・丁重語 instead of 丁寧語?

I mean saying おいでになります・伺います・参ります instead of 行きます.

The often given example is for a service-person speaking with a customer, but what about when speaking with 先生 or coworkers?

In particular, inside a company, would it be normal to use 尊敬語・謙譲語・丁重語　with anyone older or higher in rank? It seems like that might be too excessive.

Does usage depend on factors such as context or personality?