"But to which of the angels said he at any time, Sit on my right hand, until I make thine enemies thy footstool? Are they not all ministering spirits, sent forth to minister for them who shall be heirs of salvation?" (Hebrews 1:13-14)
The angels see it. The enormity of Jesus' sacrifice in light of everything going on with the human race. That Jesus, being God, would take on the mantle of flesh and blood and weight and walk through the day to day existence of your garden-variety human being. They see the struggles we encounter and they see the answers (most times, I believe). They're tasked with our protection and God expects them to do right by us. Never would they interfere with your worship or your attention wrongfully, that belongs to God. And out of all they know and all they do and all they're capable of--seriously, angels in their orders are in charge of some mind-bending stuff--they're interested in what we have. This thing called "salvation". Peter says this, starting with the prophets:
"Of which salvation the prophets have enquired and searched diligently, who prophesied of the grace that should come unto you: Searching what, or what manner of time the Spirit of Christ which was in them did signify, when it testified beforehand the suffering of Christ, and the glory that should follow." Real quick, Peter shores up the thousands of years preceding the life, death and resurrection of Christ and places his forthcoming point in context. Think about it. Imagine yourself on the outside, looking forward. The Messiah hasn't come yet. You scour the prophecies and writings that have come before (it's likely you know them all by heart anyway) and you wait. It could happen in your lifetime, but that's not for you to decide. All the pieces have to fit. God spoke it, it's going to happen. So you abide by His law and do your best and wait for the Messiah to show up. Peter continues: "Unto whom it was revealed, that not unto themselves, but unto us they did minister the things, which are now reported unto you by them that have preached the gospel unto you with the Holy Ghost sent down from Heaven; which things the angels desire to look into." (1 Peter 1:10-12, emphasis mine)
It says in Luke's gospel (2:26) that Simeon "should not see death, before he had seen the Lord's Christ." Upon seeing Jesus for the first time, he exclaims to God "Lord, now lettest Thou Thy servant depart in peace, according to Thy word: For mine eyes have seen Thy salvation, Which Thou hast prepared before the face of all people;" (2:29-31) He held Jesus as a baby and knew what it meant. Evidently, he had so soaked in the desire for God that one look at baby Jesus and he knew. He could rest in peace. And without, the angels are looking on. They see it. In much the same way that we know of angels and their supernatural agency and properties, they look on in wonder at the work that God has wrought for us through Jesus Christ. I find then, that in light of this view, it would behoove us to truly meditate upon just what it is that we get when we accept the atoning sacrifice of Jesus for the sin of the world and ours in particular.
"Thanks be unto God for His unspeakable gift." (2 Corinthians 9:15)
I dreamed once that I made my way up to the edge of my old neighborhood. There's a road that curves around and down a not-too-steep incline and on the far side of this street is an undeveloped field. It's the same still as it was then. In the dream, I was suffering from a dense and confusing depression. Instead of the grass and dirt and rocks that make up the aforementioned field in real life however, there was a baseball diamond surrounded by green plastic rooms and outbuildings. As I got closer, I realized that this field was "the angels' field". It was bright and sunny out and three or four guys in their weekend baseball get-up (nothin' fancy) walked from the dugout. One had a bat resting on his shoulder. They were angels, and they invited me to come play baseball with them. The moment I stepped in their presence, the depression and confusion dissolved and I awoke.
See, angels have something we don't. But we have something they don't. What we have is the very nature of God. And the privelege of making mistakes. Of sharing in the sufferings of Christ. I have had exactly one more dream featuring angels and I've never seen one in real life. I know they're there. I don't think about them much and I don't think they'd have it any other way. While they are "ministering spirits" for us, our job is to walk before God. He delights in us. He loves us so much. So much so, that He'd create untold numbers of beings with extradimensional ability and agency, just to help us. And to sweeten the deal (no offense to them), as such they're --not jealous--they're...curious.
You can know something they don't--what it feels like to be redeemed.