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This is the St. Michael prayer:
Glorious St. Michael the archangel protect us in battle be our safeguard against the wickedness and snares of the Devil, may God rebuke him we humbly pray and do thou oh prince of the heavenly host, by the power of God, cast into Hell Satan and all the evil spirits who prowl about the earth seeking the ruin of souls.
Pope Leo XIII added it to the end of one of the old liturgies around the turn of the 20th century. Catholics don't pray it after Mass any more, but the prayer is still a very popular (and efficacious) one, should you need a demon cast into Hell.
And this is the Guardian Angel prayer:
Angel of God, my guardian dear, to whom God's love commits me near, ever this day/night be at my side to light to guard to rule and guide.
Most Catholics ask angels to protect us, but we know we're asking them to do what Jesus (the One Mediator) committed them to do.
Upvote:6
I agree with Wayne Grudem who cites 1 Tim. 2:5 in answering this question.
For there is one God, and there is one mediator between God and men, the man Christ Jesus,
The Holy Bible : English standard version. 2001 (1 Ti 2:5). Wheaton: Standard Bible Society.
Based on this we see clearly that Christ is the only mediator between Christians and God the Father. Additionally, Paul calls out the worship of angels as false doctrine in Col. 2:18. While praying to angels arguably may not be worship, in my mind the line is far too fine to mess around with.