When the angels sing “Glory to God in the highest, and on earth peace among those with whom he is pleased,” the same word “eudokia” is usedas in this verse. When the angels sing that God is well pleased with people when his Son is born on earth, they mean that God likes to save people by giving them grace. God loves to give grace to people, not to angels (see Hebrews 2:10–16).
In Matthew 11:25–26 Jesus is not talking about the difference between angels and people, but about the difference between people that God makes. There are people who consider themselves very wise; God hides his grace from them. And there are people who think small of themselves; to them God gives his grace with pleasure (Matthew 11:25).
26 yes, Father, for such was your gracious will.