How to get toddler to stop being so sensitive?

My son is 3 and a half. I notice that he’s EXTREMELY sensitive. If you tell him no to something, he screams and cries. Or like today, we went to a fast food place. He dropped a fry on the floor and when he tried to pick it up, I told him to try it away. He screamed at the top of his lungs and started sobbing. We were at my parents the other day and my dad picked up his cup to give it back to him and he thought it was being taken away (I’m assuming) so he started crying enough to where when he came back to me, I thought he got hurt or something. It’s not EVERY time I tell him no, but it’s often enough to where it’s like “okay it’s not that serious”. And he reacts heavily enough that family will be really confused and worried that I think they’re doing something bad to him.