I'm not aware of help from angels, as I am aware of help from God the Father and God the Son, by the Holy Spirit. But the Holy Spirit dwells in us, whereas angels do not.
Some Christians have had what they believed were revelations of angelic presence or work, but we must remember that even during Bible times appearances by angels were rare. We should not normally expect to be aware of the work that they do.
We are to avoid prayer to angels or worshipping of them. See e.g. Colossians.
Jesus, the God-Man, is now the King of Angels, the Bright and Morning Star, Lucifer having been cast out from that post in his rebellion (See Revelation 2:28; 22:16; Isaiah 14:12-15, NIV). We should direct our prayers to God the Father through Jesus Christ and He will do what seems to Him best, if that involves an angel/angels or not.