I don't think the angels, as originally described, were human. They could look human if they chose to (the ones who came to Abraham to warn him about Sodom and Gomorrah looked like ordinary people; no wings or halos) but they weren't human.
2 Be not forgetful to entertain strangers: for thereby some have entertained angels unawares. Hebrews 13:2. They are not human. You may have a guardian angel to watch over you. I feel like all children have one.
You can BE a human angel by helping others and hopefully if you ever need help a human 'angel' will be there to help you. Some true angels may take human forms briefly but they arent actually human and dont stay in that form.