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Arm waving is a sign of submission. You are probably the one that handles them the most and you are bigger than them so they are showing you that you are the dominate one. Be careful when you pick him up, don't pick him up from overhead, scoop one hand under his front while supporting his legs and tail with the other hand. By putting your hand over his head to pick him up he sees you as a predator and may get scared of you.