Psa 34:6 -7, 6 This poor man cried, and the LORD heard him and saved him out of all his troubles. 7 The angel of the LORD encamps around those who fear him, and delivers them.
David is describing himself as this poor man. It is common for the people of God to feel poor and afflicted, and in their afflictions they cry unto the Lord for deliverance.
The poor here is not lack of finances though it could be a factor but poor in spirit. David’s faith is deficient, very weak. The confidence in God he had over the bear, lion, Goliath is gone, he needs a fresh supply to his poor spirit. Jesus called such blessed (Mat 5:3) because they recognize their deficiency and come in humility. God because of His care assigns His angels to our care. God makes use of the attendance of the good spirits for the protection of His people from the malice and power of evil spirits; and the holy angels do us more good every day than many of us are aware of.
We must recognize how deficient spiritually we are and then come to Him in humility to be made rich, Jas 4:6 “But he gives more grace. Therefore it says, “God opposes the proud but gives grace to the humble.”