Preheat the oven to 400°F.
In a large skillet, heat the olive oil over medium heat.
Add the onion, carrots, and celery and cook for several minutes until the vegetables begin to soften.
Add the minced garlic and cook for about 1 minute, until fragrant.
Add the ground beef and cook for 8–10 minutes, breaking the meat apart with a spatula as it cooks, until browned and fully cooked through.
Drain any excess grease from the skillet.
To the skillet, add beef broth, tomato paste, Worcestershire sauce, salt, black pepper, rosemary, and thyme.
Stir well and allow the mixture to simmer for about 5 minutes until slightly thickened.
Add the frozen peas and stir to combine.