Pip, Petey, and Me Makes Three

I have two chinchillas, Pip and Petey that I've owned for about a year. Pip is grey/beige and is shy and keeps to himself. Petey is charcoal grey with a white underside. He's the outgoing friendly one. Even though Pip is kind of a jerk and won't let me hold him and steals Petey's treats from his mouth, I still love him because he was my first. I got two because I thought Pip was sad being alone, and it appears I was right, he seems much more relaxed now. The only thing I regret was buying them a flying saucer wheel to run on....it's been used so much that its emitting a screeching noise whenever Petey runs his chubby butt on it lol.

Id really like to know how I can get Pip to quit being so skittish and let me hold him like Petey does. Im starting to think it might just be his personality, but if theres anything I can do to make him more at ease, I'd love to hold him....its a shame not to be able to, he's so fuzzy!