The King's Son and the King's Courtiers
Said the Besht: "The courtiers of the king are accustomed to converse with their royal master only seldom, and then with a few brief phrases. If they observe that the king is angry, they do not approach him. The prince, however, does not hesitate to speak with his father even when the king is in anger, and he holds lengthy converse with him.
"The angels are the courtiers of God, and their singing unto Him is limited. israel, however, is His son, and he is permitted to praise Him as often as he desires."
Source: Kether Shem Tov