Believers Ruling with Christ and Judging Angels

Paul says the saints will come with Jesus at his return. The word is hagioi, holy ones - and Paul refers to hagioi as angels elsewhere in the New Testament. An angelic host will accompany Christ upon his return.
Which makes 1 Corinthians 6:3 all the more striking. The same believers who are escorted by angels are told they will judge them.
One clarification, because it is easy to blur. The passages about holy ones coming with Christ are about who accompanies him, not about believers reigning. The reigning claim rests on 1 Corinthians 6 and Revelation, and it stands perfectly well on its own.
Scripture links:
- Matthew 25:31 - the Son of Man comes with all the angels.
- 1 Thessalonians 3:13 - the coming of our Lord with all his holy ones.
- 1 Corinthians 6:3 - do you not know that we are to judge angels?
Two different claims, both true, and worth keeping apart.