It depends on what kind of relationship you want - an interactive one where your guinea pig is free to tell you what they want and you do play and adventure stuff with them or whether you mainly want the stereotypical cuddly pet.
Most guinea pigs don't like being handled and cuddled at first. I have piggies that emphatically never will; and those I let be as much as the necessary weekly health checks and grooming allow. My aim is to get them to accept handling and not freak out. Other piggies come to quite enjoy lap time and cuddles. I treasure my own "cuddle piggies", but I am admittedly an interactive person that wants her piggies to have a happy piggy life with their group mates first and foremost and not be a human's pet as a priority.
The important bit is that you listen to your piggies and accept when they have had enough. They will learn to trust in turn and often be much more relaxed with you and your handling them. It is a slow process with constantly shifting limits.
You may want to make use of these tips here:
How To Understand Guinea Pig Instincts And Speak Piggy Body Language
How To Pick Up And Weigh Your Guinea Pig