The answer is that Yaakov delivered a sharp warning to Eisav with the presence of these particular angels. Yaakov realized that in addition to feeling secure with his physical prowess, Eisav also felt confident that he prevailed over Yaakov on a spiritual level. In contrast to Yaakov, Eisav did after all succeed in fulfilling two of the aforementioned fundamental mitzvos during the last twenty-two years, the mitzvos of honoring one's parents and living in Eretz Yisroel. With these angels Yaakov reminded Esav that he still lacked the third mitzvah of circumcision that he possessed. Although it was only a single mitzvah and thus the minority of the three, its quality is greater.
Circumcision forges a bond between the child and parent through pain and suffering.
The two mitzvos Esav fulfilled came to him with relative ease. Yaakov was stating that his fundamental connection to his roots even without Eretz Yisroel and kibud av was stronger because it was one that came through pain and suffering. Therefore, the merits of Yaakov would outweigh the merits of Esav. The message is simple. What counts is quality, not quantity.