Most guinea pigs do not enjoy being picked up. As prey animals, that feeling of running from something coming at you is hard-wired into their brain. That said, a lot of pigs who don't enjoy being picked up don't mind being held and handled once you get them. Trying to tempt them into a carrier so that you can catch them without chasing them and causing undue stress is a good idea. Then you can get them acclimatized to sitting on someone's lap and getting petted and routine maintenance done, perhaps while you offer a snack.
Honestly, when socializing my pigs, I have always picked them up (trying to cause as little stress as possible) and let them sit on my knee in a blanket and with a treat for a short time at least once a day. All of my pigs, even those who ran from the big hand in the sky, ended up being perfectly happy sitting on the couch with me, to the point where several of them just would go to sleep on my lap. Right now one of my pigs is very easy to scoop up (she pretty much just stands there) and the other has never loved getting scooped but she is the one who will sleep on my knee, so she's clearly comfortable with people once she's there. I would start trying to pick them up in a carrier, letting them hide in a blanket and have a snack, and see if you can't get them a bit more used to handling because, although not all pigs are lap pigs who just want to sit with you, my experience is that picking them up is the biggest hurdle, but once you've got them as long as you are gentle and give treats most pigs will warm up.