You can utilize exercise (hatha yoga), concentration (dharana yoga), and meditation (dhyana yoga) to refine the process of getting into a quiet mental state. Meditation here is meant as a state of being during which you can communicate with the angels, not the techniques of yoga that you perfect to get into that meditative state. Yoga is an ancient method of linking your individual consciousness to that of the one divine mind, and meditation is the seventh or penultimate step in the eight steps of yoga outlined by the ancient Indian sage Patanjali.
After you have applied techniques to disconnect from the senses and turn inward, moving away from ideas of mortal consciousness and all thoughts associated with them, you rest in a state of peace and alert awareness in the realm of spirit. That meditative state, in which you can dive ever more deeply into increasingly subtle realms, is the place to communicate to your angels. Initially you might use techniques of yoga to overcome mental restlessness, but eventually you will automatically sink into that meditative calm. Broadcast messages to the angels from your third eye center at the point between your eyebrows (ajna chakra) and receive their incoming messages in your heart chakra (anahata chakra).