Well welcome to the world of rabbits! haha I would say since he’s still new to you, wait for him to come to you. Let the cage open lay on the floor and then wait for him to come out. Being that he was handled when it was young, I think that depends the relationship he and the other owner had. If it was a good relationship, he might be mourning the loss of his buddy and you need to let him come to you. If it was a bad relationship (or a pet store) he really won’t like being picked up, so you have to be very calm and patient with him. One of my boys I got from a neighbor and he doesn’t mind being picked up, but I’m the only person who has every picked him up and I always try to make his experience pleasant. His brother however, is from a pet store and he does not like to be picked up because he wasn’t handled well. The more he comes around to you and build your relationship, the better it will be. Also, I’ve trained my buns that when i want to pick them up, I wait for them to come to me, then pet them and put both my hands on their shoulders, if they don’t want to be picked up, they know to get out of that pose and I won’t pick them up. So that could help too, by making a habit of how you pick them up they know what you’re trying to do before you do it.
Howcast is a great channel on youtube that I would suggest watching! Here is a link to the one about handling which helped me a lot when I was starting out!
https://www.youtube.com/watch?v=tIXdvtNwAPk