I can pick up our cat, Pica without a problem but she has always fought with my husband. Just squirming so much. We've found out why.
She's a right handed cat. My husband is left handed. If you try to hold her on your left shoulder she's used to it, but try to hold her on your right shoulder? She freaks out.
I tried to pick her up "left handed" and suddenly had the same problems as my husband.
So if you have this issue, try switching.
He can now pick her up.