Be very careful of the books you read or the seminars you attend. An angel of God will always glorify God. Holy angels do not draw attention to themselves. They work quietly, most often behind the scenes, then when the work is done, they leave. God's angels, however, are His servants, and all this attention and emphasis and glory should go to God, not His servants.
Scripture makes no mention of loving angels.
However, it does tell us to love God and His word. It also tells us to love each other. And it never tells us to pray to angels, only to the Lord Himself. There are many books available with instructions on how to contact your angel. But the Bible gives neither permission nor precedent for contacting angels.