I always thought that the angels were called the numerous above (המוני מעלה) and we down here were known as the group below (קבוצי מטה) and together, each in our rightful place we praise HaShem and say קדוש,
kadosh. I understood that so many mistakes were made throughout history because we didn't understand or accept our place. Hassidut did a great service and helped us to realize that there is no better place to be than in the world, involved in Torah, Tefillah, and Mitzwoth. That is our job. (or to quote an 80s movie, Goonies, "it's our time, our time down here.")
Rav Avraham Azulai explains (Hesed L'Avraham 2:22) the secret on a deeper level: The "numerous above" are the souls of the Tzaddikim in Gan Eden who ride down upon the ladders created by the letters of new Torah being learned in the world in order to unite with those down here who are learning Torah. This joining of the Tzaddikim in shamayim and Bnei Yisrael in the world is exactly the right formula to complete the union of HaShem's dwelling place within the world. This is the secret of the המוני מעלה and the קבוצי מטה.
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