While I hate being picked up, I usually don't mind if the humans reach into the cage to pet my head. Sometimes, they'll want to pick me up and hold me in their lap for a while and pet me. I don't mind it when they do this, because I can just flatten out in total relaxation and go to sleep. I mean, I don't have to worry about predators if I'm in the hands of a fearsome giant, right?
I also sometimes get needy for human attention. It's so boring being stuck in the cage with Buffy; whenever I try to play with her or initiate a game of tag, she hops on top of a pigloo and glares down at me. But the humans are always up for fun. Sometimes I'll create games to play with the humans. I know they hate it when I touch their shoelaces, so I'll try to sneak up on them and see how long it takes them to shoo me away.
Another game I enjoy is "Capture the Receipt". The humans keep a plastic container of important receipts on the floor. Sometimes, during floor time, I'll jump into the container and fish out a receipt. If they catch me doing it, then I'll run away with the receipt in my mouth until they manage to stop me and retrieve the receipt. What fun!
I just want to be left alone bu humans and guinea pigs alike. I hate it when anyone bothers me. I hate it when Lola kicks me out of my pigloo, I hate it when a human hand approaches the cage, and I especially hate being held. Being held feels like being captured to me. I burr and I burr to let the humans know I hate it, but sometimes they don't care and will insist on petting me. I'm not a cat, humans! Just because I sound like I'm purring doesn't mean I'm happy.
Well, there you have it. How much a guinea pig enjoys interacting with their humans varies from pig to pig.