Angels do go to church. There they are in the book of Revelation joining the saints in the worship of God. Since Jesus prayed that the kingdom of God would be reflected on earth as in heaven, we know that angels join the saints on earth when they assemble to worship God. They may be visible or invisible.
Take a look at the first three chapters of the book of Revelation. We learn that angels were assigned to help the churches identified in the book. I believe that this is the same today. Hello angels! We need your help and support to help us to become overcomers and to advance the kingdom of God on earth, to deliver people from the kingdom of darkness and to translate them into the kingdom of God.
