Do we have a guardian angel assigned to protect us throughout our lives?

Many preachers teach that each person is assigned one specific guardian angel. But is that what the Bible teaches? 

There are three Bible passages people use to prove this idea of a guardian angel. The first one is in Matthew 18:10, in which Jesus said, “See that you do not despise one of these little ones, for I say to you that their angels in heaven continually see the face of My Father who is in heaven.” God uses angels to minister to children, but notice it is plural here: “their angels in heaven.” Next, in Acts 12, Peter was in prison when an angel of the Lord suddenly appeared and released him. When Peter knocked on the door of the prayer meeting, Rhoda the servant-girl got so excited she ran back to the group having forgotten to let Peter in. She interrupted the prayer meeting, claiming Peter was at the door. They thought she was crazy and said, “It is his angel.” Did they mean Peter’s guardian angel was at the door? No. They were simply saying it must be the disembodied spirit of Peter knocking at the door.

Finally, Psalm 91:11–13 says, “He will give His angels charge concerning you, to guard you in all your ways. They will bear you up in their hands, that you do not strike your foot against a stone. You will tread upon the lion and cobra, the young lion and the serpent you will trample down.” This is a promise for all of us. The Bible clearly teaches that God uses angels to protect us and to deliver us from evil. But none of these verses proves that each of us has only one guardian angel. God uses the angels for our benefit. No matter what you’re going through right now, God has a plan He’s working out for your life—and many times angels are the agents He uses to accomplish that purpose.