Speaking to followers at the Vatican on Wednesday, the pontiff said every person has a guardian angel advising them in life.
Stressing they were not imaginary, he said it was only pride stopping people hearing their voices.
“Do not rebel: follow his advice,” the Pope said according to theCatholic News Agency.
“No one walks alone and none of us can think that he is alone.”
Pope Francis made the comments on the Feast of Holy Guardian Angels, observed by Catholics around the world on 2 October.
A depiction of a guardian angel at Arnos Vale cemetery in BristolHe claimed that no person can rightly give moral advice to themselves and should instead rely on direction from angels.
“It is dangerous to chase away our travelling companion,” he said.
“The Holy Spirit advises me, the angel advises me. This is why we need him.”
During the address, the Pope also used Biblical examples to hit out against “careerism”, saying it was against the attitude of “docility” taught by Jesus.
His predecessor, Pope Benedict, made a similar address on angels in 2011, saying: “From the beginning until death, human life is surrounded by their constant protection.”
But his insistence in 2012 that angels did not sing at the birth of Christ devastated lovers of carol “Hark! The herald angels sing”.
He also wrote in his book about Jesus’ early life that contrary to popular belief, there were no donkeys, camels or any other animals present at the Nativity scene.