It seems to me, the following analogy, well, pretty much tells it all – there is really only two things, software and hardware – ironicly all hardware, like matter, really is the same – it may come in different shapes and sizes, but inherently it has zero difference – so if we seek to understand, it is the different software programs – there is the software in angels (and million of subgroups but mainly the camp of michoel who serve God out of love and the camp of gavriel who serve God out of fear) there are animals (mainly driven by love and fear, for its own survival and pleasure vs. pain) then there are us: mainly a mix of both the angelic and animalistic software