Musar על חולין 181:15

Keeping this in mind, we can understand the statements of Rabbi Shmuel bar Nachmeini in Chulin 91a who says that Samael appeared to Jacob as a pagan, whereas Rav Shmuel bar Acha thought that Samael appeared to Jacob in the guise of a Torah scholar. These two views need not conflict with one another, Considering the impurity that radiates from Esau, Samael appeared like a pagan; considering the holiness that radiates from the angelic aspect of Samael, he appeared like a Torah scholar. Just as the features of Jacob are engraved on the throne of G–d, so the features of Esau must be perceived as engraved on Samael. More than once in Scripture are Torah scholars equated with angels, to quote only וישלח מלאך ויוציאנו, "G–d sent an angel and he took us out” (Numbers 20,16, the angel being Moses). Rashi, commenting on that verse, also quotes Chronicles 11, 36, 16: ויהיו מלעיבים במלאכי האלהים, "They insulted the "angels" of G–d," as referring to the prophets. At that particular time, Samael decided to don human garments in order to wrestle with Jacob physically. After Jacob had bested him, Samael concealed the evil part of himself and became a "good" angel. In that latter capacity he confirmed that Jacob had deserved Isaac's blessing and then himself blessed him. As soon as that happened, peace between Jacob and Esau was restored in our world.