Gosh the demonic voices must have been frightening! Can I ask how you opened up to this realm? Sorry if it's in your initial post, I will read it again. The angelic presence sounds really wonderful. I've never experienced anything like that. I would definitely say that intuitive knowing is a psychic ability of sorts. I think there's a clair-something that describes 'just knowing' things.
I've been thinking lately that I want to start meditating with intent to tap into all this again but hopefully not get the scary experiences! I did a third eye meditation last night and had quite a vivid dream as a result. One way I experience things is through dreams - they seem to give me messages as I get significant numbers, names and songs that are very apt when I look up the meaning on waking. None of my family is psychic as far as I know but several family members have a strong interest in spiritualism.