Absolutely, 100%, positively do.
I've been lifted up back onto a runaway horse that I was sliding off, and the horse stopped. Literally felt arms lifting me back firmly behind the saddle (I was riding behind my friend, who was also falling and also lifted).
I've been told to turn into the spin by a very calming but authoritative voice when my car was hydroplaning out of control shortly after I got my license. And hands covered mine and helped me to do as instructed. Anyone heard that song, "Jesus take the Wheel"? That speaks very deeply to me.
I've had other times when I was so scared while driving I wasn't sure how to proceed. Again, hands over mine guiding the wheel.
I've been warned not to do things that, when done anyway, ended badly. But in most cases, the resulting reaction was best described as a long-suffering sigh and "I told you not to do that, but I'll help you through this anyway".
And I've felt the strength provided by God and angels in times of crises, most recently when we were evacuating from Hurricane Rita. My mom and I made it to our destination safely not by our own strength, but by God's. No question in our minds.
As for the definition -- when I say angel, I can mean one of two things. Usually, I mean the "race" that is separate from man created by God to do His will. These are the guardians and messengers, the beings of light sometimes seen. But I also feel that humans and animals can act by God's direction or with His permission as His agents as well, and those I also consider to be angels. These can be the pets sent to teach us a lesson or test us, the friends sent in a time of need who become lifelong companions, the spirits of deceased loved ones... True, by Biblical definition they aren't "angels", but "angels" is the best thing to call them to me.