I don't handle my boys very often, but I like to give them the option. I have had Chuck Norris for about a year and he is to the point that he will usually climb onto my hand if I hold it near him. It has only been like this for the last couple months though. Don't expect quick results. My guy, Bruce Lee, has been with me a couple months and is barely to the point of not hiding the moment I open his cage. I still place my hand as close to him as he will allow, and leave it there until he either limbs away, or calms down.
I have never forced either of them to come out of their enclosures and would not recommend it unless it was an emergency. To date, I have only handled Bruce Lee once, on the day I got him. Hopefully in a year he will be as comfortable with me as Chuck is. Take your time, handfeed, and don't force anything. In time you may gain enough trust to be able to handle him.