It is better if you simply call out to him . You do not summon them, as it is not so nice and some angels can be mildly affected and give you a earful .
Simply call out to him and he will arrive shortly.Higher Angels have quite large consciousness and are capable of manifesting at different areas at once.
Also , what you have described may not simply means that he is your guardian angel. There may be issues that call forthed his presence into you.
Also , guardian angels are with a person throughout their life , standing over them and guarding them from the back , so that they are always behind you . Why don't you try talking to your own guardian angel to find out who they are ?