In a medium saucepan, stir together all of the ingredients: tomato sauce, tomato paste, apple cider vinegar, maple syrup, molasses, Worcestershire, smoked paprika, dry mustard, garlic, salt, black pepper, and cayenne pepper. Bring to a simmer over medium heat.
Cover with a lid slightly ajar so that the pot is mostly covered to deter splattering, but steam can still escape and the sauce can reduce. Let cook, stirring occasionally, until the sauce thickens, about 10 to 15 minutes.
Taste and adjust seasonings as desired. Enjoy immediately or let cool and store for later use.
TO STORE: Homemade barbecue sauce may be stored in an airtight container (I like to use a mason jar) in the refrigerator for up to 1 week.
TO FREEZE: Store barbecue sauce in the freezer for up to 3 months. Defrost in the refrigerator before use.