In Judaism are there beliefs in Angels?
Yes, and they don't have free will. Only G-d and humans have free will. Angels are just servants of G-d and only do what he says. They are only spiritual. Animals are only physical. Only are humans both spiritual and physical at the same time, the requirement for anyone other than G-d having free will.
Thats what i've always believed.
Then why do you not consider Angels to be the most perfect creatures as they are the most obediant.
Because they are only tools of G-d. They don't have a choice.
Oh, ok.
Think of the difference between a photograph of a scenery which will sell for 10 bucks and a hand-painting which will sell for thousands of dollars of the same scenery.
Which one is more accurate? The photograph. The hand-painting has mistakes, but it was done with effort care and by someone real, not a machine. And that is far more precious and valuable.
Angels are like the photograph, we are like the painting.
(Based on a response from the Lubavitcher Rebbe)