I wouldn't consider any of the angels good. Just consider them as their own faction, but they don't really do anything for the benefit of humanity / nephalem in the game. Tyrael is pretty much the exception. The council is split on whether or not they should intervene. Tyrael is the only angel who really wanted to get involved with the nephalem, Auriel and Itherael don't want to destroy nephalem but we haven't heard of them getting directly involved like Tyrael.
Imperius does hate the nephalem, in the vote on whether or not they should be destroyed, he voted yes. It was a 2/5 vote in favor of yes, with Malthael's not voting since he was gone counting as a yes. We could still see Imperius as a boss somewhere down the line.