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Hi TheLearner, I believe that angels, the Heavenly Host, live in Heaven and visit here (whenever the Lord chooses to send them here).
As far as angels talking to us, the Bible has examples of angels talking to men both here and in Heaven.
As for talking in Heaven during the Intermediate State (the time between our death and our bodily resurrection at the end of the age), the only example that comes to mind at the moment is the martyrs taking to God in Revelation 6, but since, as saints, when we are absent from the body, we will be at home with the Lord, where we will continue to make it our ambition to do what is pleasing to Him .. see 2 Corinthians 5, I am sure we will be talking to others too.