He was not told to establish the Church. Christ established the Church, choosing Peter as the foundation stone. The Apostles were told to propagate the Church Christ had established, and of course according to the constitution given it by Himself. Wherever Peter went he remained Head of that Church, and as he went to Rome and died there whilst still exercising his office, that office is necessarily attached to the See of Rome. This was not by mere accident. We have to admit the guidance of the Holy Spirit in the choice made by St Peter in a matter of such moment to the Church.
Radio Replies Volume 1 by Rev. Dr. Leslie Rumble MSC and Rev. Charles Mortimer Carty