I have that very same problem with Dreama! Only at night, and only when she knows the reason we are picking her up off our bed is to put her in her crate.
Dave found a way around it!! (really impressed me, lol) He put a leash on her early in the evening, and when he wants to bring Dreama to bed, he stands up, tugs her gently toward him, and picks her up. She seems to know that way that he is in charge, not her, and she doesn't snap!! I am so happy that my hubby has taken a hand in his pup's training!! HOORAY!
Good luck!