Hi and welcome!
Your piggies have bonded with you and trust you. You have given them the most precious gift of all to so freely without being trained to become a living human cuddly toy but not much else. Most piggies when they are given the choice don't like being picked (cutting too close to prey animal instincts) and a the majority will actually only tolerate a shortish cuddle on the lap or none at all. You just have to wrap your head around the notion that what you have is so much more valuable than the narrow, human-centric image that prevalent on social media because it is the human concept of what is cute or funny that drives them and not the idea of what guinea pigs consider a happy home!
Most of my piggies only like a short cuddle if they are given the choice; some don't like to have any interaction at all (past the necessary regular health monitoring, weigh in and grooming) while a few will allow me to give them a little pet in the cage.
You may find these guide links here very interesting and helpful!
Arrival in a home from the perspective of pet shop guinea pigs
Understanding Prey Animal Instincts, Guinea Pig Whispering And Cuddling Tips
How To Pick Up And Weigh Your Guinea Pig Safely
Enrichment Ideas for Guinea Pigs
All these guides are part of our much wider practical and helpful New Owners guide collection, which is worth bookmarking and using as a resource. We have a whole section that deals with various aspects of human - cavy interaction fo instance. Unlike books, our guide format allows us to update and extend our information at need. The full, even wider guide collection can be accessed via the guides shortcut on the top bar.
But you are of course always welcome to ask any questions in our various Care sections or have a chat/picture post about your piggies in the Chat section.