Adam Clarke on Psalms 91:12

They shall bear thee up in their hands - Take the same care of thee as a nurse does of a weak and tender child; lead thee, - teach thee to walk, - lift thee up out of the way of danger, "lest thou shouldst dash thy foot against a stone," receive any kind of injury, or be prevented from pursuing thy path with safety and comfort.

Let us remember that it is God, whose these angels are; He gives them charge from Him they receive their commission, - to Him they are responsible for their charge. From God thou art to expect them; and for their help he alone is to receive the praise. It is expressly said, He shall give his angels charge; to show that they are not to be prayed to nor praised but God alone, whose servants they are. See the note on Mat 4:6.