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Principalities always refer to a level in the kingdom.
Satan also has a kingdom and principalities is a level in that kingdom. Principalities can refer to God's kingdom, Satan's kingdom or man's kingdom, as detailed in the scriptures below. The verse above clearly states that there is a spirit world that is invisible. But this passage tells us about another spiritual existence that we wrestle against. Nor height, nor depth, nor any other creature, shall be able to separate us from the love of God, which is in Christ Jesus our Lord.