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The key passage regarding guardian angels is found in Matthew 18:10 “See that you do not look down on one of these little ones. For I tell you that their angels in heaven always see the face of my Father in heaven.” In the context, “these little ones” could either apply to those who believe in Him (v. 6) or it could refer to the little children (vs. 3-5). The word “their” is a collective pronoun in the Greek and refers to the fact that believers are served by angels in general. These angels are pictured as “always” watching the face of God so as to hear His command to them to help a believer when it is needed.
There is no doubt that good angels help protect (Daniel 6:20-23; 2 Kings 6:13-17), reveal information (Acts 7:52-53; Luke 1:11-20), guide (Matthew 1:20-21; Acts 8:26), provide for (Genesis 21:17-20; 1 Kings 19:5-7), and minister to believers in general (Hebrews 1:14). In the Old Testament, the nation of Israel had the archangel (Michael) assigned to it (Daniel 10:21; 12:1).
Now does each person has an angel assigned to him/her? Scripture nowhere states that an angel is “assigned” to an individual. Angels were sent to individuals, but there is no mention of permanent assignment.
However, God does use angels in ministering to us on a continual basis (Genesis 28:12). And we have an even greater assurance that Jesus Christ Himself will never leave us (Psalms 121:4) or forsake us (Hebrews 13:5-6). His wall of protection is promised to His faithful children (Psalm 91).
In His service,