"For you have striven with God and with men, and have prevailed" (Genesis 32:29). You wrestled with the higher beings and overcame them, and with the lower beings and overcame them. Rabbi Chama bar Chanina said: It was the guardian angel of Esau, for that is why Jacob said to Esau (Genesis 33:10), "for I have seen your face as one sees the face of a divine being." Just as the face of the divine being means judgment, so too your face is judgment; just as concerning the face of the divine being it says (Exodus 23:15), "and none shall appear before Me empty-handed," so too you, none shall appear before you empty-handed. "With the lower beings": this is Esau and his chiefs.
You Have Striven With Divine and Human Beings and Prevailed
Yalkut Shimoni on Torah 133:3
כִּי שָׂרִיתָ עִם אֱלֹהִים וְעִם אֲנָשִׁים וַתּוּכָל. נִתְגּוֹשַׁשְׁתָּ עִם הָעֶלְיוֹנִים וְיָכָלְתָּ לָהֶם, עִם הַתַּחְתּוֹנִים וְיָכָלְתָּ לָהֶם. רַבִּי חָמָא בַּר חֲנִינָא אָמַר, שָׂרוֹ שֶׁל עֵשָׂו הָיָה, הוּא דְּהוּא אָמַר לֵיהּ (בראשית לג, י) "כִּי עַל כֵּן רָאִיתִי פָנֶיךָ כִּרְאֹת פְּנֵי אֱלֹהִים" מַה פְּנֵי אֱלֹהִים דִּין, אַף פָּנֶיךָ דִּין מַה פְּנֵי אֱלֹהִים (שמות כג, טו) "וְלֹא יֵרָאוּ פָנַי רֵיקָם", אַף אַתָּה לֹא יֵרָאוּ פָנַי רֵיקָם עִם הַתַּחְתּוֹנִים זֶה עֵשָׂו וְאַלּוּפָיו.