Rich, I'd suggest you just start setting up gentle, but very consistent handling habits and stick to them like the very devil. Same evening, same time, same quiet experience, over and over and over again. Ensure that the removal and return to the enclosure is as quiet and non-stressful as possible. Develop physical routines the snake can learn and begin to understand are non-threatening.

For instance, when we are cleaning or feeding we have certain routines but for handling we have a very standard routine. Open the tub, remove hide if snake is in it, gently stroke the snake down it's back avoiding the head, after a bit lift the snake out supporting it's body. No sudden moves, no grabbing or having one of the kids bouncing around or loud music. We feel it's really important to have the removal and return to the enclosure be a very low stress event for the snake.

Then we just sit with them, usually with the tv on, the living quiet and just relax. Don't even really bother them if they are balled up or nervous acting. Just sit relax, don't focus on the snake and let them decide when they want to stop fussing about. If they try to escape we just move them back to our laps by their bodies, avoiding the head and not grabbing from above so we don't trigger an "omg they are going to EAT me!!" response.

It might only be a 10 minute deal but as long as the snake is relaxed somewhat when it goes back into it's home, we consider it a good experience. Each snake is unique, so we handle them somewhat differently once we figure out what makes each the most comfortable with the experience. Just stay calm, consistent, develop simple habits, you'll do just fine.