A: You want to know if you can get in touch with your angels. Angels are our companions and our guides through our lives, but men and angels are not ordinarily able to communicate with each other. Angels HAVE spoken to people at times, as in the case of Gabriel's visit to Mary, but this is very rare.
From The Urantia Book:
In the life of the flesh the intelligence of angels is not directly available to mortal men. They are not overlords or directors; they are simply guardians. The seraphim guard you; they do not seek directly to influence you; you must chart your own course, but these angels then act to make the best possible use of the course you have chosen.(113:5.4)
That "still, small voice" is not the voice of an angel, but is God's way of speaking to you deep down in your heart and soul. Angels do not communicate with us in this way. Instead:
Seraphim function as teachers of men by guiding the footsteps of the human personality into paths of new and progressive experiences. To accept the guidance of a seraphim rarely means attaining a life of ease. In following this leading you are sure to encounter, and if you have the courage, to traverse, the rugged hills of moral choosing and spiritual progress. (113:4.3)
One of the most important things a destiny guardian does for her mortal subject is to effect a personal co-ordination of the numerous impersonal spirit influences which indwell, surround, and impinge upon the mind and soul of the evolving material creature. (113:3.1)
Even if you can't speak with your angel, you can cooperate with them and their mission by remaining ever receptive to those spirit influences, such as the Thought Adjuster and the Spirit of Truth—the most likely sources of the "still, small voice." You can imagine angels around you, planning things for you, watching over you and protecting you as you go through your day...guiding you into situations that are for your highest good.
The angels develop an abiding affection for their human associates; and you would, if you could only visualize the seraphim, develop a warm affection for them. Divested of material bodies, given spirit forms, you would be very near the angels in many attributes of personality. They share most of your emotions and experience some additional ones. The only emotion actuating you which is somewhat difficult for them to comprehend is the legacy of animal fear that bulks so large in the mental life of the average inhabitant of Urantia. The angels really find it hard to understand why you will so persistently allow your higher intellectual powers, even your religious faith, to be so dominated by fear, so thoroughly demoralized by the thoughtless panic of dread and anxiety. (113:2.5)
So, stay positive—and know that you are being cared for, that you are loved, and that your steps are being guided by these heavenly ambassadors of the Father's kingdom. Thank God for the angels and learn to love them, for they love you very dearly...they work hard for you, and their destiny is tied to yours:
So, do your best to cooperate with them, and one day you will meet face to face and you'll be able to thank them in person.
For seraphim, the surest way of achieving the Paradise Deities is by successfully guiding a soul of evolutionary origin to the portals of Paradise. Therefore is the assignment of guardian of destiny the most highly prized seraphic duty. (113:7.7)