The zemer "Shalom Aleichem" is obviously addressed to angels. The Tur (OC Siman 3) gives a short text to says before entering the bathroom: התכבדו מכובדים משרתי עליון, etc. (also obviously addressed ...
On Friday night we welcome the angels by singing Shalom Aleichem the question is why do we tell them: צֵאתְכֶם לְשָׁלוֹם מַלְאֲכֵי הַשָּׁלוֹם מַלְאָכֵי עֶלְיוֹן Essentially sending them away ...
Jews usaly do not ask angels for help as per the RAMBAM. He writes (in Sanhedrin, Perek 11) in the fifth Yesod ha'Emunah the prohibition against serving Avodah Zarah -- that not only should a person ...