If you ask me how God does something my response will be, however he wants to do it. If the Bible teaches us anything it is that our God responds in a diverse manner that suits the person and situation. So, would God use angels to convey something to us? It wouldn't be beyond him so I wouldn't rule it out, by why would he put a mediator between us and him?
In ancient times God had to communicate to us through prophets and angels. There are a few examples of God speaking directly to people but they were exceptions. However all of that changed with Jesus Christ:
In the past, God spoke through the prophets to our ancestors in many times and many ways. In these final days, though, he spoke to us through a Son. God made his Son the heir of everything and created the world through him. (Hebrews 1:1-2)
God revealed his heart, his plan, his great mysteries through the Son, and then something really amazing happened. Jesus returned to the Father so that he could send us the great Comforter, the Holy Spirit. This is the Spirit of God who now dwells in us, making us one with Jesus; Jesus in us and us in him. Here is the truly amazing thing:
Spiritual people comprehend everything, but they themselves aren’t understood by anyone. Who has known the mind of the Lord, who will advise him? But we have the mind of Christ. (1 Corinthians 2:15-16)
We do not have the Holy Spirit on us like the prophets did in ancient times. The Spirit would come on them as they needed to act or speak God's will. Instead we have the Spirit of God in us, living in us, giving us the mind of Christ, that we would know and do the will of God.
There was a time when God could only speak to his people through angels and prophets but we are now one with God so that he speaks to us directly. The question is, are we listening?
We have to be careful because there is one who wants to drive us into confusion and cause blindness to God's people. He has done it to the world and of late he has been effective in the Body of Christ:
The god of this age has blinded the minds of those who don’t have faith so they couldn’t see the light of the gospel that reveals Christ’s glory. Christ is the image of God. (2 Corinthians 4:4)
Don't allow the lies of the enemy to cut you off from communication with our Father. Don't listen to those who have lifted humanism, morality above the truth of our relationship with the Christ. The Father is still speaking and he is speaking with you. Set aside thoughts of angels and open your ears to the Spirit's voice. Allow him to direct your days according to the will of the Father.