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It would be hard to say for certain. Firstly when the two angels visited Lot, it seems to show that even though they had a human form he could still tell that they were a higher power (Genesis 19:1-2). Also, Abraham bowed down to the 3 angels that passed him by (Genesis 18:2). There might be other times though that God might want to keep their identity hidden from us so that they can do His will. I think the best answer is that if God wants us or needs us to know the identity of an angel when they are in human form then it will be made know to us. If we are not meant to know the we won't and there will be reason for us not to know.
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