However, let us not be confused in that, we are to worship God alone. We do not worship angels (Revelation 22:8-10); we have been made lower than the angels... but only for a little while. Jesus is alone worthy to be praised. In this world, we can ask the Father through the Lord Jesus Christ to send His angels to guard us on this earth. The future world will not be controlled by angels, as man (God's children brought into salvation through Christ) will be made higher than the angels (2:5). This has not yet happened (2:9). At this point in the plan of God, we see that God made Jesus lower than the angels for a little while (2:9), but when He was raised to life, Jesus was given authority over all things, seated at the right hand of the Father. And this is the plan of salvation for God's children.
So we should pray to God through our Lord Jesus Christ. Hebrews 4:15-17 says, "For we do not have a high priest who cannot sympathize with our weaknesses, but One who has been tempted in all things as we are, yet without sin. Therefore let us draw near with confidence to the throne of grace, so that we may receive mercy and find grace to help in time of need." Our high priest is Jesus Christ and we can now approach God BOLDLY because of Christ, in order to receive mercy and help in need.
So, do you need a guardian angel today? Ask God through Jesus Christ, to have the angels guard you in the spiritual world. Our God goes before us and behind us, protecting us (Psalm 139:4,5). All you have to do is ask.
If you are wondering about Jesus and how to know God, then read my previous post.