Is it possible to domesticate your guinea pig?

Hello. The title might seem a bit confusing, but what I really mean is if it is possible to make them come when you call their name, and more importantly, make them not be afraid of you. Whenever I want to pick him in order to give him affection or simply take him outside the cage, he immediatly hides inside his pigloo. I have to remove all the cage protections and items in order to pick him, and I have to be quick. After I get him, he calms down and seems happy after a while, but it's a pain to pick him from the cage. I end up not doing that so often because it's really alot of work to remove all that stuff that covers him.