On Shabbos, a Jew is on a higher level than the angels, because the realm of Shabbos is even loftier than that of the angels.
This may explain the last verse of the the hymn, Shalom Aleichem with which we greet the angels who escort us home from shul on Friday night. We finish by saying צֵאתְכֶם לְשָלוֹם מַלְאֲכֵי הַשָׁלוֹם – May your departure be to peace, O angels of peace.” Asking these gracious angels to leave seems quite inconsiderate, to say the least.
Yet there is a reason for this. At our Shabbos table, we take delight in the Shabbos together with the Shechinah. We are in a spiritual environment that is higher than the domain of the angels. Since the angels cannot join us there, we kindly bid them farewell. ~ Shabbos Malkesa
Emuna Daily 
Our family’s minhag (and we have found other families, as well; though very few) is not to sing the last verse, but just recite it in an undertone
as not to upset the Malachim who are leaving.