Are you wanting to pick him up for the purpose of getting him and out of the cage? If so, then I agree with Katie. You should find a way for him to get in and out unassisted.
However, I’m a firm believer in trying to get bunnies accustomed to being picked up every once in awhile. There have been cases where people have been completely hands off and then they had difficulty grabbing their bunnies during an emergency situation. You also need to be able to pick them up for other things like nail clipping, grooming, medicating, etc. They are never going to like being picked up, but it’s good to have a little bit of tolerance built up.
With mine, I practiced picking them up and then giving them a treat. I put my hands on their sides when they are sitting on the floor and I scoop them up so one hand is on their chest and one is supporting their butt. I turn them so their paws are on my chest and I hold them close to my body. Being able to look over my shoulder seems to help. This is very brief and then they get a treat. To put the down, I have come up with a way that reduces struggling. I crouch down while still holding them to my chest and allow my thighs to form a little platform. I let them slide down until they are sitting on my thighs and let them go. They will turn around and hop down to the floor on their own. No more struggling or thrashing.