Create service per pod in statefulset
Just to clarify if I got you right.
Do you want to have a separate service for every pod/replica in your statefulSet?
If so - this is not how K8s sees services being used. The service is used for grouping and load balancing purposes.
In your case, if you want to have 1-on-1 connection between an external client and a pod, I suggest deploying your statefulSet a number of times with replicas=1 and exposing a service (as NodePort/LB) every time.