by Short answer is no they do not. The only scripture I can find that sort of speaks to this is in Psalms 34:7-8 “The angel of the LORD encamps around those who fear him, and he delivers them. Taste and see that the LORD is good; blessed is the one who takes refuge in him.”
There is a strong belief in guardian angels; however, guardian angels are not biblical. The Bible never tells us that each person has their own guardian angel. God is the one who protects us — not angels. Growing up with the idea that you have your own guardian angel is extremely common. A reported 77% of American adults believe they have a guardian angel.
A fascination with angels and the worship of angels is not a new concept as we see this was already occurring in Paul’s lifetime.
In his letter to the Church of Colossae, Paul wrote, “Do not let anyone who delights in false humility and the worship of angels disqualify you. Such a person also goes into great detail about what they have seen; they are puffed up with idle notions by their unspiritual mind” (Colossians 2:18).
We also find the belief of guardian angels in the book, Shepherd of Hermas, which “teaches that each person has two angels, one good and one evil, and gives instruction on how to tell the difference.”
While there is no such thing as guardian angels, there are angels. God created angels before He created the world; however, angels are created beings. Angels are servants of God and obey Him (Psalm 103:20). God can send angels to protect us, but the angels themselves are only obeying God’s commands (Psalm 91:11).
All of the adoration, praise, and worship belong to God. No angel is as powerful, glorious, or mighty as God. The Bible tells us that angels worship the Lord and submit to His glorious presence (Hebrews 1:4-14).
This passage of Hebrews 1:4-14 also highlights the truth that Jesus is superior to the angels because He is God in the flesh. Angels worship the Lord, not the other way around. In the same way, we need to worship Jesus and not angels. The Bible tells us that angels do not accept worship (Revelation 19:10).
Many people try to use Jesus’ statement in Matthew 18:10 to argue for the existence of guardian angels, but this is an erroneous interpretation of Jesus’ words. Jesus states, “See that you do not despise one of these little ones. For I tell you that their angels in heaven always see the face of my Father in heaven” (Matthew 18:10).
This verse does not tell us that we have guardian angels. What this verse does tell us is that angels serve mankind by protecting them at God’s command. The emphasis is placed on the angels always looking to the face of the Father in heaven — they are not on earth protecting a person whenever they choose.
The importance rests on the angel’s obedience to the Father, not so much their actual role of protecting. Angels can protect believers, but it is always at the will of God. God knows all things, so He knows when a person is in need of help, deliverance, and safety.
The Lord does send angels to help us as Hebrews 1:14 states, “Are not all angels ministering spirits sent to serve those who will inherit salvation?” In this passage of Scripture, angels are referred to as “ministering spirits.” This is to emphasize the truth of angels being servants to God.
All Christians can take great comfort in knowing that God is their protector, and He will never leave them nor forsake them (Hebrews 13:5).