This song has a religious undertone, obviously, but it is secular enough to address "angels" in a direct, personal, sort-of way.
I feel like the guy just lost someone he loved, and now the person is an angel in heaven ("on your cloud"), who he "miss[es] dearly". He's taking it "day by day, through the years", but he's still "been kneeling and praying" that the person will come back down. He needs the angel to be with him, "near to the ground".
This song has a religious undertone, obviously, but it is secular enough to address "angels" in a direct, personal, sort-of way. I feel like the guy just lost someone he loved, and now the person is an angel in heaven ("on your cloud"), who he "miss[es] dearly". He's taking it "day by day, through the years", but he's still "been kneeling and praying" that the person will come back down. He needs the angel to be with him, "near to the ground".