There was a saint, (I think it was Padre Pio) who would ask his guardian angel to go help others. We can ask our own, and others' angels to protect them. This is especially helpful when we feel that we can not do anything ourselves that would alleviate their pain and struggling.
Angels are all around us. Everyone is assigned a guardian angel at their conception who stays with them throughout their lives. Angels are in the direct Presence of God and can call on Him on our behalf to strengthen us in our daily walk.
At Mass, angels surround the altar and worship Jesus, present in the Blessed Sacrament. The priest prays, "May your angels take this sacrifice to your altar in heaven." Our angels rejoice when we are present, worshiping God at Mass.
Guardian Angel Prayer
Angel of God, my guardian dear,
to whom God's love
commits me here,
ever this day, be at my side,
to light and guard,
to rule and guide.