Of course we do not worship angels. But we know that God’s angels have an assignment from Him to guard us in all our ways.
“no harm will overtake you, no disaster will come near your tent. For he will command his angels concerning you to guard you in all your ways” (Psalm 91, verses 10-11; NIV)
I’m sure we do not even have any idea how many times God’s angels have protected us from harm, accidents and attacks in this world.