The song was co-written by singer-songwriter Leon Ware and lyricist Jacqueline Dalya-Hilliard[2] for the former's album Musical Massage.

The influences of the song derived from jazz and R&B/Soul, which was Ware's usual songwriting style.

In Gaye's version, "Come Live With Me, Angel" finds Gaye serenading "Papa's lil' sweet angel," promising to understand her moods while pleading her to live with him and offers her sex "Three times a day/In all the ways, baby.

[11] In 2001, UK label Expansion Records made Ware's Musical Massage album available on CD for the first time.

[13] Motown issued a Deluxe Edition of Gaye's I Want You album in the same year, which included an unedited mix of the song that features a missing bridge section and several choruses of the trumpet solo played by Chuck Findley.

[15][16] In 1994, South African singer Audrey Motaung covered "Come Live With Me, Angel" on her album Colours Can't Clash.

[17] In 2003, Hip hop/Rap group G-Unit sampled "Come Live With Me, Angel" on their song "Wanna Get to Know You" from their album Beg for Mercy.

[18] In 2012, American musician Mndsgn sampled "Come Live With Me, Angel" on his song "Yahlubba(nu)" from his album Feels.