There is Scripture references to these angels:
"See that you do not despise one of these little ones, for I say to you that their angels in heaven always look upon the face of my heavenly Father."(Matthew 18:10)
The Great St. Thomas tells us that we are first given our guardian angels when we are born. While we are in our mother's womb we are cared for by our mother's guardian angel. Every person has a Guardian angel regardless of their religion or beliefs.
God commands our Guardian Angel to watch over our soul. Our Angels do this both out of obedience and out of Love for us.
Some of the wonderful Gifts we Receive from Our Gaurdian Angels:
Our Angels desire to share their holiness, love and joy with us.
They pray unceasingly for us and interceed for us before the Throne of God.
Our Guardian angels protect us and warn us of attacks from evil.
They whisper in our ear wise counsel.
Our Guardian Angels do not interfere with our Free Will but accompany day and night and try to guide us in the path of holiness.
Many saints have reported wonderful relationships with their guardian angels. St. Padre Pio was given the gift to see his Angel. He often sought the assistance of his guardian angel to wake up one of the other priests assigned to bring him to Mass in his advanced years, who would routinely oversleep. Padre Pio's guardian angel also helped him translate letters written to him in different languages. In a letter written by Padre Pio he says,
"Well, know that he(Our Guardian Angel) is still powerful against Satan and his satellites; his charity has not diminished, nor will he ever fail in defending us. Develop the beautiful habit of always thinking of him; that near us is a celestial spirit, who, from the cradle to the tomb, does not leave us for an instant, guides us, protects us as a friend, a brother; will always be a consolation to us especially in our saddest moments".
Fr. Paul O'Sullivan. "All About the Angels" 2011
Prayer to Our Guardian Angel