You cannot expect Guinea Pigs to give you the same response as a dog or other more common domestic animals would.
Guinea Pigs are prey animals. They will never feel 100% secure being picked up, carried, or things like that. But they will get to a point where they can tolerate it and become more used to you.
I had the exact same worries that they "were never going to forgive me" if I picked them up and stuff. Nope.
EXACTLY THE OPPOSITE was true. It was silly, "Common sense dictates that you should be doing something to help them, so why am I scared to hold them?" is exactly what I realized.
I have only missed 1 day since March of this year of handling time, floor time, cuddles, whatever I could do to get them used to me. The truth is, Guinea Pigs are prey animals and will NEVER be "tamed" like a dog or cat would. They can become more "accustomed" to you, which is a better way of describing it.
All you can do is handle them every day for at least 10 minutes. Do what you can, whenever you can. Don't overdo it, just handle them and be kind and gentle.
And then there are those "grumpy" pigs that just are little stinkers and will never get as accustomed to being handled as others. Oh well! We do what we have to.
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I now have 2 wonderful girls, Lil' Babe and Big Sis', who both tolerate being petted and enjoy their out of cage time a ton. Of course, when it is time to go home, they are ready to jump in their cuddle cups-- LITERALLY,
JUMP!
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Good luck to you, and don't EVER get down on yourself to think that they "hate" you. It would be childish to do over something like this.