Place the ground beef in a mixing bowl. Add kosher salt, black pepper, and Worcestershire sauce (if using). Gently mix with your hands just until combined—do not overwork the meat. Divide into two equal portions and form each into a patty about 3/4 to 1 inch thick. Make a shallow dimple in the center of each patty with your thumb to prevent puffing during cooking.

Cook patties

Heat a large skillet or cast-iron pan over medium-high heat and add the vegetable oil, swirling to coat. When the pan is hot and shimmering, add the patties (work in batches if necessary) and cook without moving for 3 to 4 minutes until a brown crust forms. Flip the patties and cook another 3 to 4 minutes for medium (adjust 1–2 minutes longer for medium-well). If adding cheese, place a slice on each patty in the last minute of cooking and cover the pan briefly to melt.

For the toppings

While the patties cook, split the hamburger buns and toast them cut-side down in a separate dry skillet or under a broiler for about 1 minute until golden. Spread mayonnaise on the bottom bun, ketchup on the top bun (or as desired). Place leaf lettuce on the bottom bun, top with the cooked cheeseburger patty, then add tomato slices, red onion, and pickles. Close with the top bun.

Condiments

Adjust mayonnaise, ketchup, and mustard amounts to taste. Serve extra condiments on the side if desired.