I've worked with Joel a lot on this. I started in the house, all day I would go and pick him up and carry him to his treats and repeat it all day, so he knew what happens when I keep picking him up.
He also knows the difference of the tone I use. I could be playing chasing him around the house and then I switch to my serious voice "okay let me pick you up" and he immediately lets me get him.
I also got him used to if I ever am yelling at him(by accident lol) to not run away. Like when he was a puppy if I sounded stern or annoyed he never ran in fear because once I got him I would give him lots of love where as most people would get them in trouble, a lot of dogs will run away if you call them with panic or urgency so he doesn't do that either.
Even when he was a little jerk
when he was a puppy, when I was so annoyed at him for making me chase him in the yard to go inside but once I got my hands on him he got tons of love and kisses.
And also you should to teach 'stop'
