Is greeting the angels of the house upon entering it an innovation (bid‘ah), by saying: "Peace be upon you and the mercy of Allah and His blessings"?

Whoever enters a house where there are Muslims should greet them with "peace" (salaam). If there is no one in it, he should say: "Peace be upon us and upon the righteous servants of Allah." If the house is empty or contains non-Muslims, one may greet the angels or say: "Peace be upon us and upon the righteous servants of Allah."