The Bible doesn't specifically speak of "guardian angels." It does speak
of other types of angels however; such as cherubim etc.
Jesus, when speaking of children, said, "See that you do not look down on one of these little ones. For I tell you that
their angels in heaven always see the face of My Father in heaven."1
From this verse, and other verses in the Bible (such, as, Psalm 91:11-12 and Hebrews 1:14), there is the belief that there are angels assigned to protect us. The Bible doesn't speak of a specific group of angels known as "guardian angels" however.
1 (Matthew 18:10)