The whole thing is so wide open, its a problem i had when working on a Prometheus 2 draft... there are some aspects that you can have multiple theories that kind of step on each others toes and so its hard to narrow it down to a Definitive Theory.
There are flaws everywhere in some of the clues, flaws that make coming up with one theory, contradict another.
A simple example is that if we was created purely to be used as Xenomorph Hosts or to be used for Evolving into Black Goo Horrors, then its a pretty long winded Process that takes hundreds thousands of years (Spaights) or Hundreds of Millions (Lindeloffs) and why interact with us and teach us stuff, and the Star Maps... if we from day one was meant to be just Biological Fodder for the Creation of something else.
The only other way this would make sense if there are Thousands of Worlds at various times they Seed this way, it would be like a Wine Maker who makes Vintage Wines, he will start a batch, and this batch may be ready in 20 years, but then he starts another and another and another each 5 years apart... this way once his first 20 years is over, he will have a steady new batch every 5 years.
But then if they are creating Humanoids across hundreds or thousands of Worlds for just this Purpose... WHY? And to what end is the importance of creating Xenomorph type Organisms.?
The Deleted Elder Scene (which maybe we cant class as Canon) shows this Process was for a great cause and a benevolent act...
Ridley Scott mentioned the Space Jesus as being on the nose, but then his comments seem to be that they actually did not view us in any hostile way Thousands of Years ago, until we had done something and also proved to be a Failed Experiment.
The Reason for the Black Goo to be used, was because of how we turned out and became Rebellious and the risk is always there that we could one day Turn on them and Over throw them... they had a reason to be concerned with us, just as Mankind should had been with creating AI Androids... which alas, its proven the case that they have created something maybe they should not have because we see David has rebelled and became sentient.. if most of the Androids do the same, then we have a Skynet Terminator situation.
A Reason maybe the Engineers are cautious to us, and decided we needed to be destroyed is because maybe they in turn did this to their Creators/Hierarchy... and so its the same reason that Cronus Ate all his Children because he feared they would Rebel and want him Dead just as he did with his Father.
This is the Theme we was being shown... and so those LV-223 Engineers, Ridley called Fallen Angels indeed shows us they have rebelled themselves..
The Reason for the Black Goo, is maybe they Stole the Creation Goo to Create Mankind, maybe they just interfered in our development... but i think ultimately they got caught, got punished and the results of this Punishment created a Xenomorph related Ancestor
That these Engineers then held in high regard, they maybe saw this as a way they could give Birth to Life, that there Race was either never allowed but their Creators could. (If Engineers are clones and thus Biological Davids) Or if they had lost the ability to Procreate..
But now they have gained this in some way, and they worship this creation thats created from them and they chose to experiment on it and Perfect it and when they did they created the Mural, and they then decided to use its DNA in those Urns to Evolve Mankind.
into their New Perfect Creation.
The Engineers to a degree was doing what David is doing and maybe for similar reasons.