At the present time, the primary responsibility of righteous angels is to serve God and minister to (serve, help) those who are true Christians (Psalm 91, Hebrews 1:14). They watch over believers and are interested observers of God's plans on the earth (1Peter 1:12). Before we discuss the angels and their fate, however, we need to cover their current relationship with humans.
The fate of all humans who have, or will, live on earth is to possess less abilities, power and authority than angels do (Hebrews 2:7). We clearly live in a lower plane of existence than spirits who have existed far longer and who have face-to-face access to God (see Matthew 18:10).
No Authority
We humans, either those converted or not, have not (in this life) been given the authority by God to command righteous angels to do our will. Scripture does record, however, cases where humans have made requests when such spiritual servants have appeared to them. Many times what is asked for is granted but sometimes it is not.
For example, Lot pleaded with two spirit beings that he and his family be allowed to avoid Sodom's destruction by fleeing to the city of Zoar. His request was granted (Genesis 19:18 - 21). Manoah requested that an angelic messenger, sent to instruct him on how to raise Samson, stay for a meal (Judges 13:15 - 16). The spiritual messenger rejected his request.
Judging Spirits
The authority, however, and ultimately the eternal fate of angels will dramatically change in the near future. This change is hinted at by the Apostle Paul, who told the Corinthian church that their destiny in God's kingdom was to judge spirit beings (1Corinthians 6:3)! Although humans are now "a little lower than angels" (Hebrews 2:7) they have the potential, through Jesus, to have authority over everything (verses 8 - 11).
All the true Christians who have ever died in the faith will be resurrected by Christ at his Second Coming (1Corinthians 15:51 - 52, 1Thessalonians 4:16 - 17). They will be inducted into God's spiritual family and given the authority to reign over humanity for 1,000 years (Revelation 20:4, 6). Even as Christ, the firstborn from the dead, inherited a name far greater than the angels so, too, will all humans brought into glory.
God, Who spoke to the fathers at different times in the past and in many ways by the prophets, has spoken to us in these last days by His Son . . . Having been made so much greater than any of the angels, inasmuch as He has inherited a name exceedingly superior to them. (Hebrews 1:1, 4, HBFV).
Because it was fitting for Him, for Whom all things were created, and by Whom all things exist, in bringing many sons unto glory, to make the Author of their salvation perfect through sufferings.
For both He Who is sanctifying and those who are sanctified are all of one; for which cause He is not ashamed to call them brethren (Hebrews 2:10 - 11, HBFV).
Angels Will Be Under Humans
The Bible clearly teaches that angels will not be given dominion over "the world to come," which includes resurrected humans.
For it is not to the angels that He has placed in subjection the world that is to come, of which we are speaking. (Hebrews 2:5, HBFV).
Beginning at the Second Coming, they will not only continue to serve God the Father and Jesus, their fate will be to serve God's expanding family of resurrected sons and daughters. These spirit beings will also be under the authority of humans that repent and are resurrected during the Millennium and afterwards.
The destiny and reduced authority of countless righteous spirits is clearly seen in the New Jerusalem God will create after making a new heaven and earth. The new city will become the center of the universe and the place where God and Jesus will place their thrones (Revelation 21:3, 22 - 23). The city wall will contain twelve foundation stones. These stones will memorialize and honor, for eternity, not the names of any angels but of the twelve disciples who began the New Testament church (Revelation 21:14).