עֹשֶׂ֣ה מַלְאָכָ֣יו רוּח֑וֹת מְ֝שָׁרְתָ֗יו אֵ֣שׁ לֹהֵֽט׃
Des vents tu fais tes messagers; des flammes ardentes, tes ministres.
Arukh HaShulchan
It is written: “The path of life is above the intelligent person, in order that he turn away from the grave below.” (Mishlei 15:24). This verse's intent requires a preface: The angels were created as part of the spiritual world on the second day, and although it is not explicitly stated in the Torah, it is stated in the Midrash and alluded to in the Psalm (Tehilim 104:3-4) – “Who roofs His upper chambers with water; Who makes clouds His chariot, which go on the wings of the wind. He makes winds His messengers, burning fire His ministers.” [NOTE: The psalmist is referring to the primordial water and the angels together, since both were created on the second day]. The animals were created as part of the physical world on the fifth day. Angels are intelligent, serve their creator, and do not have self-serving, physical drives. Animals, on the other hand, have such drives, but lack intelligence. The result is that angels cannot receive reward for their service, as they have no negative drives to overcome, and animals cannot be punished for their actions, as they do not have the intelligence necessary to overcome their drives.
Mishneh Torah, Foundations of the Torah
And, what is this that the prophets say that they saw the angel as of fire and winged? This all is in prophetic vision and enigmatical, emphasizing that the being is incorporeal and has no gravity as other massive bodies, as, for instance it is said: "For the Lord your God is a burning flame," (Deut. 4,24). Who is not of fire but it is merely a figure of speech; and, for further instance, it is said: "He maketh His angels of winds." (Ps. 104, 4).
The Sabbath Epistle
The truth is that Scripture mentions the heavens and the earth because they form one globe, with the heavens like the circumference and the earth like the point at the center.13 Ibn Ezra is of the opinion that the “heavens” spoken of in Genesis refer to the lower sky, the atmosphere that is immediately above the earth. Genesis does not speak of the spheres of planets and stars that encompass the earth. See Ibn Ezra’s commentary to Genesis 1:1–2. Now the earth was covered with water from all sides, as it is written “they will not return to cover the earth” (Psalms 104:9), and the wind surrounds the waters.14 Thus the lower world consists of four spheres, each one encompassing those below it. Their order from innermost to outermost is: earth, water, air, and fire. The ancients believed that everything in the lower world, the world below the moon’s sphere, is composed of four elements – fire, air, water, and earth. This lower world is the subject of Creation in the book of Genesis. These are the four elements, namely, the heavens, earth, wind and water, for the heavens correspond to fire. Similarly we find “To make a weight for the wind and He counted the waters by measure” (Job 28:25), “For He gazes to the edges of the earth, under all the heavens He sees” (ibid. 28:24). Similarly, “Who measured the waters with his fist and counted the heavens with a span, and all the dust of the earth in a measure… who counted the wind of God” (Isaiah 40:12–13). Again, “Who ascended to the heavens and descended” (Proverbs 30:4), and the other three follow the word “heavens.”15 The verse reads: “Who ascended to the heavens and descended, who gathered wind in his fists, who bound the waters in a garment, who erected the ends of earth” (Proverbs 30:4). Here again, the four basic elements are enumerated. Also, “The sun shines” (Ecclesiastes 1:5) corresponds to the heavens, “and the earth remains forever” (ibid. 1:4), “round and round goes the wind” (ibid. 1:6), “all the rivers go to the sea” (ibid. 1:7). Since the circumference, which is the heavens, and the center, which is the earth, were created, so too all that is between them was created.