Why does my guinea pig squeal when i pick him up?

i have two young (10 week old) guinea pigs. one of them, Bramble, always squeals when i pick him up. Barley, his brother, never squeals when i do the same to him. is it that Bramble is scared, or that i am hurting him? please tell me, because i would like to learn.
Update: !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!...
Update 2: !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!...
Update 3: i have been told that it might be that he is hungry, but just after i have given him many carrots, he starts to squeal again. please help!
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