The Buggers/Formics are basically ants, at least in certain respects. Each hive contains a single fertile female, an army of infertile females (who function as workers and warriors) and a few fertile males who exist solely to service the Hive Queen. While there are, in fact a very few queens born in each generation, the Hive Queen makes certain that they are of one mind regarding acting in a spirit of cooperation between themselves:
He walked to the mirror, lifted, pulled away. Nothing jumped from the
space behind it. Instead, in a hollowed-out place, there was a white
ball of silk with a few frayed strands sticking out here and there. An
egg? No. The pupa of a queen bugger, already fertilized by the larval
males, ready, out of her own body, to hatch a hundred thousand
buggers, including a few queens and males. Ender could see the
slug-like males clinging to the walls of a dark tunnel, and the large
adults carrying the infant queen to the mating room; each male in turn
penetrated the larval queen, shuddered in ecstasy, and died, dropping
to the tunnel floor and shriveling. Then the new queen was laid before
the old, a magnificent creature clad in soft and shimmering wings,
which had long since lost the power of flight but still contained the power of majesty. The old queen kissed her to sleep with the gentle poison in her lips, then wrapped her in threads from her belly, and commanded her to become herself, to become a new city, a new world, to give birth to many queens and many worlds. Ender's Game
The scene you've mentioned in Xenocide relates to the way that a new queen is birthed. Basically the old Queen takes a worker and feeds it to the new queen at the larval stage. This then psychically bonds the new Queen to her workers and vice versa:
For a moment Valentine was simply surprised to hear Plikt's voice.
Then she realized what Plikt was saying, and she was right. If a
living worker had to be sacrificed for every bugger that hatched, it
would be impossible for the population to increase. In fact, it would
have been impossible for this hive to exist in the first place, since
the Hive Queen had to give life to her first eggs without the benefit
of any legless workers to feed them.
< Only a new queen. >
It came into Valentine's mind as if it were her own idea. The Hive
Queen only had to place a living worker's body into the egg casing
when the egg was supposed to grow into a new Hive Queen. But this
wasn't Valentine's own idea; it felt too certain for that. There was
no way she could know this information, and yet the idea came clearly,
unquestionably, all at once. As Valentine had always imagined that
ancient prophets and mystics heard the voice of God. Xenocide