The angels as the guardians of men are set over men as instructors and monitors. This shows the relationship that is to exist between them. Man's attitude is to be one of obedience and subjection. He is to follow the lead of the angels, and consequently some reverence is already implied in the very relationship that exists between man and angel.
TertullianWe say, and we say openly, and while ye torture us, mangled and gory we cry out, "We worship God through Christ!" Believe Him a man: it is through Him and in Him that God willeth Himself to be known and worshipped.
Tertullian