Before Allah created Adam, the angels and jinn were created. When Allah mentioned he will created Adam, the angels said, will you create Adam and his children who will commit wrong doings.
How did the angels and jinn (satan) know the mankind would do such?
This is because a nation were given authority of the earth and the spread bloodshed in their own way. Some have said that this was the Jinn - ghost like demons.
So the angels said that man would do the same thing as the previous nation but mankind was honoured by the sending of Prophets which showed mans potential to worship God/Allah.
This worship can be better than the generality of Angels because mankind's worship is by choice and the worship of the angels is by command.