Meher Baba gave this discourse on angels:

There is an Ocean of infinitude in God. In this Ocean there are waves which produce the creation of drops. The drops in the waves, which were created in the beginning with the whim in the infinite Ocean, do not pass through the seven stages of evolution as others do, but immediately assume the form of angels instead. These angels are in the same state for cycles and cycles – for eons and eons. They have subtle forms and are in the second heaven in the third subtle plane. They unconsciously thirst for a human form, even though they are in the highest state of happiness. But this bliss is of no use to them without full consciousness.

It rarely happens, but after millions and millions of years one angel is born as a human being in order to realize its Real Self. Why? In order to gain consciousness this up to now it lacked, though it has passed numerous years in the subtle world as an angel. After an angel is born as a human being, it does not have to pass through human reincarnation, but becomes realized in that very first human birth. These angels are not born on the gross plane together, but one at a time. (1)

Therefore, from a spiritual point of view, man is far superior to angels because the angels, in spite of enjoying millions of years of bliss in heaven, have to take human form before attaining liberation.

(1) For a further description of angels and archangels, read The Nothing and the Everything, pages 77–81. Whereas angels exist in the subtle world (second heaven of the third plane), archangels exist in the mental world (the heaven of the sixth plane).

Lord Meher, Bhau Kalchuri, Vol. 4, p. 1325.