It is erroneous to say that Christ didn't establish hierarchy in His Church.
Paul emphasizes this very thing:
1 Cor. 12:28
And God has placed in the church first of all apostles (bishops), second prophets, third teachers, then miracles, then gifts of healing, of helping, of guidance, and of different kinds of tongues.
1 Thess. 5:12
We ask you, brothers, to respect those who are laboring among you and WHO ARE OVER YOU IN THE LORD and who admonish you,
1 Tim. 5:17
Let the elders that rule well be counted worthy of DOUBLE HONOUR, especially they who labour in the word and doctrine.
We've already established by Acts 1:20 that the office of Apostle (Bishop) is one of succession.
As for Peter . . .
As you know, the Lord said to Peter, “And so I say to you, you are Peter (Petros), and upon this rock (Petra) I will build my church, and the gates of the netherworld shall not prevail against it.”
Non-Catholics usually say that Peter is not the Rock but that the Rock refers to his confession of faith. It couldn’t be Peter because the Greek words used here are Petros, meaning, small stone and Petra, meaning, large mass of rock. They say that the Rock is Jesus because he is referred to as Rock elsewhere, including, Matt. 21:42 and 1 Pet. 2:3-8. The problem with this is that Jesus didn’t speak Greek to his Apostles - he spoke Aramaic.
What Jesus actually said was, “And so I say to you, you are Kepha, and upon this rock Kepha I will build my church, and the gates of the netherworld shall not prevail against it.”
This is why St. Peter is referred to as Cephas in many of St. Paul’s letters, because Cephas is the closest Greek transliteration of the Aramaic, Kepha.
There is another problem for non-Catholics. Petra is a feminine Greek noun and could hardly be used to describe a man, so the word was translated as Petros in Scripture because it was being used in reference to a man. Jesus clearly appointed St. Peter as earthly head of the Church and Chief Apostle here in Matthew’s Gospel as well as Luke 22:31-32, where he told Peter that he prayed for him (singular) to strengthen the other Apostles in his absence and in John 21:15-19, where he told Peter alone 3 times to feed his sheep.