Most of my rabbits love being held. I handle them from birth and always feed them right after being held so they've come to associate "oh, if I let her pick me up, I'll get food" so they're super chill about it. I do have a couple that don't like being held, and I just don't try to push them. I try to keep their handling for grooming and stuff to a minimum, to not stress them out, for those two.
Usually the main reason that I see rabbits freaking out about being held is when they don't feel like they are secure - so if the handler is nervous or doesn't have a good hold on them. Rabbits like to stay close to your body, where they feel confident in not falling.