This little guy has had a few rough experiences with you as well.... so It's natural for him to be a bit nervous. At least I think this is the same one with the healing head and vent issues? It's poking and prodding that he doesn't want when you treated him or when you're trying to get better looks at the spots.
What I've found is that it will take time and patience. Sometimes they won't really settle until they're older. One of my BPs is VERY defensive and she's only settled down now that she's hit 4 years. Most of the others warm up around that year mark if they were super flighty babies. Keep in mind that these little guys like to hole up in tight little burrows in the wild. It's in their nature to want to be alone in a comfortable small space. They don't always want to be out and about where we are.
I don't try to do anything special or force them into anything. When I go to pick the little ones up, it's always a confident, but not grabby hand from the back, never from the front where they see it coming overhead. If you're nervous about reaching in, a light touch on the side with a snake hook before gently working it under a coil midbody to help lift them out is also something you can try.
A few minutes of light handling to check on the body condition and health. Maybe a bit of supervised carpet time for the older ones to stretch out and get a little bit of outside time. I have 2 that will settle down and wrap my wrist a little to just chill. Most of the others prefer to be out and about a little before going home.