4 What is man, that thou art mindful of him? and the son of man, that thou visitest him?
5 For thou hast made him a little lower than the angels, and hast crowned him with glory and honour. KJV
This is referring to Yeshua, our Messiah, who was not lower than angels. The translation comes from the Septuagint, and not from Hebrew.
The correct translation should be: For You have made Him a little lower than God and have crowned Him with glory and honor.
6 Thou madest him to have dominion over the works of thy hands; thou hast put all things under his feet:
7 All sheep and oxen, yea, and the beasts of the field;
8 The fowl of the air, and the fish of the sea, and whatsoever passeth through the paths of the seas.
This is not in reference to humankind, but to the Son of God.
Note: In the Hebrew text is Elohim—God.