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Elizabeth I ruled as a constitutional monarch. This is because there was a civil war in the 17th century, which gave the parliament very significant powers over any monarch, but not ditching the monarchy entirely, leaving them in the middle. Elizabeth still had power but could be overruled by parliament.

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Elizabeth was a Protestant but kept Catholic symbols such as the crucifix, while downplaying Protestant sermons to defy a pure Protestant belief. There was a threat of radical Catholics against the Protestant church, which required Elizabeth I and her Council to make a decision about how they felt about Catholics. She decided to not tolerate the radical Catholics and their reforms, but would allow regular Catholics. Resulting from this, the parliament began to legislate a protestant church that had a monarch at the head, but many Catholic elements, including priestly vestments.

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Elizabeth I: Ruled England for 44 Years - Fast Facts | History

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Mary I was weak and ill, and Elizabeth was the only possible heir unless Mary had a child.  On November 6th 1558, she was recognized as the heir, succeeding the throne after Mary's death 11 days later. When she came to power, she declared the council and all the people who had come to Hatfield to swear allegiance to her rule. This speech also brought in her adoption of sovereign's "two bodies", natural body and political body. Elizabeth was very open and welcoming to all her subjects, giving her lots of favor throughout the kingdom.