The Bible has some wonderful things to say about our relationship with the angels. For example, Hebrews 1:14 describes angels as ‘ministering spirits sent out to serve for the sake of those who are to inherit salvation’ — the angels minister to us for our good to bring us to eternal salvation! That’s simply amazing.
A verse that specifically talks about an angel guarding God’s people is Psalm 34:7, which says:
The angel of the LORD encamps around those who fear him, and delivers them.
This verse, however, doesn’t seem to have one angel each for each individual person. There may not be specific “guarding angels” assigned, as it were, to each individual, but the point being made is that God’s angels certainly care for his people. Another verse that might imply that people have their own personal “guardian angel” is Matthew 18:10:
See that you do not despise one of these little ones. For I tell you that in heaven their angels always see the face of my Father who is in heaven.
I’m not sure this refers to one angel for one person, either, though. Rather — and more wonderfully — it seems to be saying that all the angels care for us personally (like Heb. 1:14)!
So, we certainly have guardian angels (plural): all God’s angels care for his people.