There are quite a bit of misconceptions about angels. Most of these we see in TV shows and movies. I want to separate truth from those misconceptions. First of all, Angels are NOT dead people. Many TV shows depict angels as people who have passed away and are trying to earn their wings somehow. The truth is angels are not, nor have they ever been human. They are unique creations. They are spiritual beings having no physical body. They can however take on any appearance that suits their purpose. In the bible we see them mostly being messengers for God. They announced the birth of Christ to the shepherds for example. God has also sent them to protect his people at times. Angels always obey God. They always point to God. They always give glory to God. An angel that does not is called a demon. Angels are not to be worshiped. No angel will ever seek worship. An "angel" that seeks worship is also a demon. You do not pray to an angel. There are a creation of God, not any sort of deity to be prayed to.
Lucifer was once an angel. He basically thought he deserved to sit on God's throne and was cast out of Heaven. 1/3 of the angels fell with him according to the Bible. One common misconception about Lucifer, also known as Satan, or the Devil, is that he is in Hell and rules it. He is not. Hell will be his final destination along with others who reject God, but he is not there now, nor does he, or will he ever rule it. He will be sent there to be punished like everyone else there. He has not yet been sent there. Those events are yet to come and are foretold in the book of revelation. Satan occupies the same space we do. The Bible calls him the prince of the power of the air. Meaning he is here with his demons tempting man and attempting to steer people away from God. Because he hates God he wants as many people to perish in Hell as possible. He also hates people because we are made in the image of God.
Unlike angels human beings can be redeemed. A demon can never be saved and become an angel again. However, Because of Christ's sacrifice on the cross paying for the sins of humanity we can be redeemed in the eyes of God. Humanity is he crown jewel of God's creation and we are the only beings he has provided this way of redemption to. We are created in the image of God, angels aren't. Even the angels can't be saved. That is how much God loved us. The next time you feel down about yourself remember that God loves you more than the angels and sent Jesus to die for you. If you turn to Him you will be saved.