Is it permissible for a Muslim to perform acts such as giving charity with the intention of bringing joy to the Prophet (peace be upon him) and pleasing him, and is this considered polytheism (shirk)?

We have previously explained that a Muslim's seeking the Prophet's—peace and blessings be upon him—pleasure is neither polytheism nor an abomination, because pleasing the Messenger—peace and blessings be upon him—is pleasing Allah Almighty. And it is not necessary for one who strives for his pleasure to be aware of him. Rather, it is like the dutiful child's eagerness for his parents' pleasure and obedience, and his concern for what they love, whether they are present or absent.