When all the people were being baptized, Jesus was baptized too. And as he was praying, heaven was opened and the Holy Spirit descended on him in bodily form like a dove. And a voice came from heaven: "You are my Son, whom I love; with you I am well pleased (Luke 3:21-22)."
Here, we see all the three divine beings present in this short passage. As Jesus, in whom was living the Son God as his spirit, came out of the water, and was praying, the Holy Spirit descended on him in bodily form like a dove, and the voice of the Father God came from heaven speaking to Jesus: "You are my Son, whom I love; with you I am well pleased." This occurred as the fulfillment of the following scripture in the Old Testament:
I will proclaim the decree of the LORD: He said to me, "You are my Son; today I have become your Father. Ask of me, and I will make the nations your inheritance, the ends of the earth your possession (Ps 2:7-8).
At this point, Jesus (more particularly, his soul) was adopted into the family of the Trinity as a son because he, too, was a human. As a son, he also became an heir, and "the nations" were given to him as his "inheritance." So, like Joshua, he went out to lay hold of his "possession" to "the ends of the earth." It was how his ministry began, and we, as sons of God, co-heirs with Christ, are part of the extension of the same ministry sharing in his sufferings. It is interesting to note that right after Jesus had been adopted as such, Satan came to tempt him concerning his sonship.
The tempter came to him and said, "If you are the Son of God, tell these stones to become bread." ... "If you are the Son of God, throw yourself down. ... "All this I will give you, if you will bow down and worship me (Mat 4:3-9)."
Satan tried to lead him to a wrong way of seeking the possession because he knew that Jesus came to take back what had been lost in man's inheritance as a result of the Fall. Yet, Jesus said to him, "Away from me, Satan!"
Then the devil left him, and angels came and attended him (v. 11).
Keep in mind always that as we are co-heirs with Christ, we have what he had. If Satan obeyed Jesus, he also obeys us. If the angels came and attended him, they also come and attend us.
Are not all angels ministering spirits sent to serve those who will inherit salvation (Heb 1:14)?
The ministering of angels is an important part of the spiritual blessings given to all of us who are heirs of God. In fact, the words, "You are my Son, whom I love; with you I am well pleased," were not only spoken to Jesus, but also are spoken to all co-heirs with Christ in the same way today. When Jesus went to John to be baptized by him, John first tried to deter him by saying, "I need to be baptized by you." But Jesus replied:
Let it be so now; it is proper for us to do this to fulfill all righteousness (3:15).
Note the word, "us," which included John and the rest of the people who came to be baptized by him. Jesus, as a human, took the same step as the rest of the people needed to take, and was adopted into the family of the Trinity. If the baptism Jesus received was a proper step for him and everyone to take to fulfill righteousness, then the event that took place after he came out of the water—the adoption into God's family of the Trinity with the words saying, "You are my Son, whom I love; with you I am well pleased"—must have been also a part of the proper step for every co-heir with him.