Many people, in fact everyone has at least one divine angel with them some of the time. However these angels generally have great deal of difficulty getting through to people on earth in a satisfying manner. This is due to several things that are based in divine law, the law of free will, law of desire, the laws governing mediumistic interactions between humans and spirits, which involve harmony of soul condition. It definitely is not a case of if there is an angel with me, trying to help me, I will know and receive that help.
There are three forms that I know of that are taken by angels in order to assist people on earth. Angels take these different kinds of form in order to enhance their capability of providing help.
Ent form - Method angels use to connect to trees and help people who are deeply inclined towards helping and loving nature and to directly help and love nature. This name was adopted after JRR Tolkein's writing about Ent's in 'The Lord of the Rings.'
Tengu - A tengu is a spirit form taken by a soul mate couple who are both angels, they work in harmony to help people, usually those inclined towards warriorship to resolve spirit attack issues or any soul based issue. It is a form that can be seen clairvoyantly far more readily than an angels' true form, Basicly they darken themselves. Often described or depicted as a three legged crow 'demon' but I feel demon is not the correct term to use. A tengu manifests and maintains a healthy physical body's energetic connection to the earth. This gives them greater influence and healing capability with mortals. This is the crow's third leg.
Bujinkan Ninjutsu has the Tengu as it's guiding spirit, which I think is very impressive.
I suggest the experiment of:
Desire a Tengu to be with you.Perhaps do this at a time when you are able to pay attention, such as during seated meditation. You could say, "what would you like to help me with" or "Can you help me with this problem?"
Merkaba - Again an angelic soul mate couple who manifest a certain spirit form of superimposed upwards and downwards pointing, triangle based pyramids. This is usually in order to interact with 'new age' spiritualist inclined people.
Why not try desiring a Merkaba to visit you?
This page has some nice content regarding Merkaba http://www.crystalinks.com/merkabah.html
These are the primary assisting forms. Angels have several other ways they can show themselves to mortals who are unable to perceive their true form, but I think I have said enough.