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Taylor distinguishes himself from the angels in the next stanza:

19   I’le Claim my Right: Give place, ye Angells Bright.
20      Ye further from the Godhead stande than I.
21   My Nature is your Lord; and doth Unite
22      Better than Yours unto the Deity.
23      Gods Throne is first and mine is next: to you
24      Onely the place of Waiting-men is due.

By distinguishing himself from angels, Taylor relies upon the teaching in Hebrews 1 & 2 on angels. In chapter 1, the writer of Hebrews works diligently to prove the superiority of the Son over angels. The chapter unambiguously teaches that the Son is God in the same manner as the father – and is thus superior to the angels. In chapter 2, it teaches that the son is a man and has the same humanity as all humans. Thus, the son is God and man.

In so teaching, Hebrews deals with the relationship between human beings and angels.  The primary verse for Taylor’s poem is found in 1:14:

14 Are they not all ministering spirits sent out to serve for the sake of those who are to inherit salvation? Hebrews 1:14 (ESV)

At the end of chapter 2 we read that Jesus did not come to redeem angels:

16 For surely it is not angels that he helps, but he helps the offspring of Abraham. Hebrews 2:16 (ESV)

Angels are creatures sent by God to minister to human beings who will receive redemption by the work of Jesus. In pressing his case against angels, Taylor is merely stating what can be established on the basis of Scripture.