The angels that forsook their "proper dwelling place" - abused the ability they had - they turned away from God and misused the power they had to cause harm - they chose to abandon heaven permanently and rejected God's authority.
Other faithful angels however, also materialised bodies and came to earth i.e the angels that visited Abraham , Gabriel and lets not forget Jesus himself who continued to live on earth before his ascension into heaven.
Also according to Genesis before mans fall, God would enter the garden of Eden and commune with Adam - although he chose at that time to remain unseen - Adam had not yet eaten of the tree of life.
Revelation 20:3 "The tent of God is with mankind , and he will reside with them"