I have always been able to understand and connect to animals much more than I ever have to humans. Most animals approach me when they won't approach others, and I feel more at ease with them than I do with most people!
Whether it is domestic pets, or wild animals, it's never mattered; in my first house, I had the squirrels on my block trained to come when I "called" them, as I would feed them every day, along with birdfeeders for the birds - I even put food out for a raccoon that had taken up residence in the rafters of my carport :)
I think animals can sense our feelings and intentions towards them very easily, so yes, I think we can definitely call ourselves "animal earth angels" :)