Hebrews 2:16

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

To help means to take hold of one as by the hand. Mr 8:23 ("he took the blind man by the hand"), Ac 23:19 ("the tribune took him by the hand"), Lu 9:47 ("Jesus took a child and put him by his side") all give the picture of the actual person taking someone by the hand, to aid them, to come alongside. Jesus comes to our aid, not to the aid of angels. To redeem man, it was necessary for him to be a man. Yes, he is speaking to descendants of Abraham, but he is not excluding the entire human race; he is at this moment speaking to one of his children, but that doesn't mean he excludes the others.