If my hermit crab chirped at me, does that mean I’m handling him too much?

I’m a new hermit crab owner, and I wan’t to make Gus as comfortable as possible with me. For context; I accidentally poked one of his front legs while making sure he didn’t fall off my hand. I don’t handle him everyday, nearest is every other day and farthest is about 3 days apart. I feed him everyday, though. Was he just nervous that I poked something unexpectedly, or am I handling him too much?