In heaven we shall be as the angels, and by our willingness to obey God's commands, we should be like them here. We pray that God's will may be done by us on earth as it is in heaven; and is it not done willingly there? It is also done constantly.Ten Commandments, 83
In Scripture, then, we uniformly read that angels are heavenly spirits, whose obedience and ministry God employs to execute all the purposes which he has decreed, and hence their name as being a kind of intermediate messengers to manifest his will to men.Institutes, Book 1 Chapter 14