Exposure to the pick-up sensation is helpful to assimilate rabbits to being handled, because push comes to shove, it may not be something they enjoy to any degree, but you need to do it sometimes for health and safety reasons (i.e. making sure Wick doesn’t hop into the oven for example… gee whiz).
Although the upstairs entice them, it seems like staying on the ground level is best, and trips can be reserved via basket/carrier transportation so there’s no risk of them falling. Additionally, I’d say put a gate of some sort by the stairs. Zoomies can easily lead to a slip down the stairs. Additionally, the more often they go upstairs, the less exciting it will be for them because it becomes more regular.
The answers provided in this discussion are for general guideline purposes only. The information is not intended to diagnose or treat your pet. Seek the advice of your veterinarian or a qualified behaviorist.