Kicking during diaper changes?

Ma

My son thinks it’s hilarious to kick wildly when I’m changing his diaper or trying to put clothes on him. He’s almost 6 months so I think he’s aware when I’m not happy with him and he’s learning how to understand more words, so I’ll firmly tell him “No, don’t kick!” and hold his feet when he tries to do it, but he STILL smiles, laughs, and tries to roll when I do that. I’m tired of the struggle and I just want a calm, easier experience! Any tips?