Hebrews 1:13-14
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?
Angels minister on our behalf, they minister for us. We are the ones the Bible refers to as heirs of salvation.
So you can send your angels on errands. They are there to do service for you.