I let my shy girl know I'm 'coming' by tapping the top of her hide (vibrations) and then lifting it slowly and stroking her back a bit before lifting her. This is more for her feelings than mine, since it's true that a bite doesn't hurt (unless it's a feeding bite, and then it's usually your fault for smelling like dinner).
Maybe we could see some pictures or a list of how you have things set up? That way we could help you make absolutely sure everything is top notch!
And WELCOME!