Does she know you are there or are you waking her up from a dead sleep. If someone wakes me up, I am pretty snappy myself!
Just talk to her a few seconds before you pick her up...coax her into thinking it is o.k. to move. Oscar has only ever snapped at me when I was trying to brush out a mat...so now we keep him clipped...no more mats that way! He is now a happier puppy. One more thing, does she get on the bed by herself? Maybe keeping her off of the bed in the first place would be an easy solution???