Tips for shy guinea pigs?

I got my two babies (6 month father and his 6 week old son) a week ago. Naturally they’ll be very shy because they’re adjusting and are prey animals, but when it comes to picking them up for exercise (big enclosed playpen in backyard with a hideout) or to clean their cage, they are absolutely skittish. Will run away and do anything to try to escape being moved from the cage! I don’t want to scare them by picking them up but I also know they need a clean cage and fresh air/exercise (at the least a cage clean!). Any tips on how to move them? Also did I break my chance of them trusting me? I’m so worried that they won’t bond with me now because maybe they’re negatively associating me with being chased and moved.

Lol picture of them in their tempo spot to bring them to their outdoor playpen.