Do we all have guardian angels?

[VeganMelissa]

My grandfather died a few months before I was born so obviously I never met him. When I was a teenager I became aware of a loving presence around me. Mostly at night when I was in bed waiting for sleep to come I would physically feel my bed being rocked. I would lay so still just to see if it was my imagination or not. It wasn't. I felt like I was being rocked to sleep. I remember seeing a picture in my mind of my grandfather sitting at the foot of my bed making it rock. As an adult after my grandmother, who I was very close with, died (on the other side of the family) I would come home and smell her all over my apartment. She even came to visit me as a little bird once (I can't help if that sounds bizarre, I know it was her).
Are they my guardian angels? I feel that at different times throughout my life but not all the time. Is it only in times of need? How can I get more in touch with feeling them?
Any thoughts would be greatly appreciated!