Because the humans have no choice.
The angels are one of the most powerful beings in the world. The humans have generally accepted the angels will pretty much do as they like depending on mood or mission, and best to stay out of the way or obey them as much as possible.
It all ties in with the ambition of their angelic creator deities, who believe all humans should be monitored and controlled to ensure world order.
Individually I wouldn't say they are bad per se, but not good either.