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Fr. Mark Cyza discusses the Angels. Guardian Angels and their purpose, as well as, how to pray with our Guardian Angel is part of the teaching he touches upon. He also touches upon the difference between the Holy Angels and the Fallen Angels, what is the proper understanding we should have concerning them.
From the Catechism of the Catholic Church
The existence of angels – a truth of faith
328 The existence of the spiritual, non-corporeal beings that Sacred Scripture usually calls “angels” is a truth of faith. The witness of Scripture is as clear as the unanimity of Tradition.
Who are they?
329 St. Augustine says: “‘Angel’ is the name of their office, not of their nature. If you seek the name of their nature, it is ‘spirit’; if you seek the name of their office, it is ‘angel’: from what they are, ‘spirit’, from what they do, ‘angel.'”188 With their whole beings the angels are servants and messengers of God. Because they “always behold the face of my Father who is in heaven” they are the “mighty ones who do his word, hearkening to the voice of his word”.189
330 As purely spiritual creatures angels have intelligence and will: they are personal and immortal creatures, surpassing in perfection all visible creatures, as the splendor of their glory bears witness.190
Christ “with all his angels”
331 Christ is the center of the angelic world. They are his angels: “When the Son of man comes in his glory, and all the angels with him. . “191 They belong to him because they were created through and for him: “for in him all things were created in heaven and on earth, visible and invisible, whether thrones or dominions or principalities or authorities – all things were created through him and for him.”192 They belong to him still more because he has made them messengers of his saving plan: “Are they not all ministering spirits sent forth to serve, for the sake of those who are to obtain salvation?”193
332 Angels have been present since creation and throughout the history of salvation, announcing this salvation from afar or near and serving the accomplishment of the divine plan: they closed the earthly paradise; protected Lot; saved Hagar and her child; stayed Abraham’s hand; communicated the law by their ministry; led the People of God; announced births and callings; and assisted the prophets, just to cite a few examples.194 Finally, the angel Gabriel announced the birth of the Precursor and that of Jesus himself.195