Much depends also on the personality of the snake...I have snakes that I never have to pick up because they come out themselves when I open the door and onto my hands, others flee in fear because I'm big and surely I'm going to eat them, and some stand their ground ready to fend off any attempt to capture them. All are in the same species...
Literally the only thing you need to take care off is that you don't positive enforce 'bad behavior'. With this I mean that if your young snake tends to bite it's way out of your hand or musk on you, you shouldn't care about it and just confidently continue to hold it. If you don't because it's scary or stinks and put the snake back into his home, then you only teach it that when it's aggressive or musks, it will be placed back or not picked up. Snakes will always and ever prefer their home over your hands. You only have to teach them nothing bad will happen when you hold them. Over time the 'bad behavers' will learn and accept you, mostly, but not always. Other snakes will just be calm from the get go. Like I said, really depends.
For the record, even my calmest and most gentle snake who comes out every time I open the enclosure by himself and never hurts a fly (since it's not a mouse
)... when in shed and curled up in hiding, and if I touch him, he will forcefully push me away with the side of his body like saying "not now!". Then I just let him be.