Rabbits that don't like to be picked up?

Jenson hates being picked up too. He gets his claws done at the vets. I only pick him up if I have to and even then its only to put him in his carrier. If at all possible I let him put himself in his carrier as its always out because he likes to hop in and out of it.
I don't think he was handled much before we got him which is a shame really as it would be easier and less stressful if he let him pick him up briefly as and when required. I don't want to pick him up to hold him as he hops up on my lap anyway or sits next to me on the floor.