Walking Among Angels
The Sfas Emes teaches that one of the great spiritual problems is fear of closeness to Hashem. People are afraid of a real relationship with Him, and so they keep their distance. The angels, however, serve Hashem without such fear, even though they are far lower than He is. Human beings should take them as a model, and walk among them, so to speak, unafraid to build a relationship with Hashem and to serve Him. This wholeness is within our reach if we think of ourselves as walking among angels.
Source: Sfas Emes, Bamidbar, Parshas Behaaloscha 5636