Yes, but you are assuming that communicating with God’s messengers is prayer. Why can’t it just be talking to? Why is it any different that asking you to pray with me about my grandson?
We know, for example, that angels see the face of God in regard to children with whom they are charged. We also know that Revelation pictures angels bringing the prayers of believers to God.
The bible indicate that angels have some role in prayer, a gathering and offering of them:
***Revelation 8: 3 Another angel, who had a golden censer, came and stood at the altar. He was given much incense to offer, with the prayers of all the saints, on the golden altar before the throne. 4 The smoke of the incense, together with the prayers of the saints, went up before God from the angel’s hand.***
Cornelius might well be an example of that:
***Acts 10: 1 At Caesarea there was a man named Cornelius, a centurion in what was known as the Italian Regiment. 2 He and all his family were devout and God-fearing; he gave generously to those in need and prayed to God regularly. 3 One day at about three in the afternoon he had a vision. He distinctly saw an angel of God, who came to him and said, “Cornelius!” 4 Cornelius stared at him in fear. “What is it, Lord?” he asked. The angel answered, “Your prayers and gifts to the poor have come up as a memorial offering before God. ***
BTTT!
There is nothing here that indicates or teaches that angels were prayed to, or even knew all the contents of the golden censer. The offering up of incense was an O.T. ordinance, and in Rev. 8:3,4 it appears to be a memorial unto God, and does not signify that the prayers needed an angelic postal service, much less heavenly secretaries, nor do the finite saints under the altar inquiring about the day of judgment (Rev. 6:9,10) support the Roman Catholic position.
It is time for Catholics to cease supposing that since angels serve God, and even if departed saints have some function in glory, then this supports praying to them, for this has no support, and instead what is abundantly supported and uniquely exampled is prayer directly to God.