If you have any chance to take a 'puppy manners' class do it! Very helpful for owners to learn how to help puppies behave. I am a first time doggie mom, with a yorkie puppy, and the class really helps me know how to help Maya learn and behave. As for the grooming, maybe try touching him lovingly in different places: legs, or toes etc. each time you pick him up and hug him. It will help him get used to being touched.
I take May out to pee in the snow and when we come in I hold each little paw in my fist to warm it up - I think she likes it now.