We know for sure that our Prophet salla Allahu alaihi wa sallam can see what we can’t see. Whether he can see angles all the time or not, this is something we don’t know.
As for the Hadeeth, the Prophet salla Allahu alaihi wa sallam told his companions that had they been in their homes as they are when they are with him, the angles would have shock hands with them. This is not because something in them but rather because the angles would reveal themselves to these righteous people.
Having said that, we know that the Prophet salla Allahu alaihi wa sallam used to see the angles but we don’t know about the frequency.