The reason as I understand it is that those angels didnt choose to come down here. They were forced too. You see angels were not created with free will. Satan was an angel before he fell. His name is lucifer. Do you know why he fell? When god created angels he made them "perfect" in his image, without free will to challenge him and his decisions. He made them totally complacent to HIS will. However God got sick of this and he created MAN, who he gave free will, the ability to think for ourselves, the ability to create life, plus many other things angels didnt have. Lucifer asked god why he cared more about us humans and why he gave humans all these things that angels didnt have rather than the "perfect" angels that he created first. God got angry at Lucifer when he asked this question because angels are not allowed to go against gods will. They are not allowed to question god and his decisions. However lucifer wasnt the only one who believed this. There were other angels who believed this too. God Threw lucifer and all the other angels who felt this way out of heaven as a punishment.

Because of this Satan grew to HATE and DESPISE the human race and god. Satan swore that he would get revenge on god for casting him out, took his fellow fallen angels and created an army. He swore one day he would return to heaven and take down god, so to speak.

So the angels didnt "give up heaven" for this, they had no other choice.

As for the other angels, Im not too sure