In a mixing bowl, combine ground beef, salt, pepper, and Worcestershire sauce. Mix gently until just combined.

Divide the mixture into 4 equal portions and shape them into patties, making a slight indentation in the center of each patty.

Preheat the grill to medium-high heat.

Place the patties on the grill and cook for about 4-5 minutes on each side, or until they reach an internal temperature of 160°F (71°C).

If using cheese, add a slice to each patty during the last minute of cooking and close the grill lid to melt.

Toast the burger buns on the grill for 1-2 minutes.

Place the cooked patties on the bottom half of each bun. Top with lettuce, tomato, pickles, ketchup, and mustard.

Cover with the top half of the bun and serve immediately.