Ellie did that when her back went out (on her side close to her mammary glands), but that wouldn't really fit for him. It can happen with intestinal and pancreas issues also, but that doesn't fit either.
You shouldn't have to be that careful. If it continues, I'd definitely see what the vet has to say after thorough exam palpating everywhere. I would start being less careful when picking him up to make sure it isn't going to continue.
Just looked at your post again. Hmm. A few times in one day can't be written off as just sticking your finger in the wrong spot on his ribs. I'd get it checked. Not normal.
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