Is it possible to domesticate your guinea pig?

I'm not sure, my guinea pig didn't come when I called his name, but he wasn't afraid of being picked up either. It might have just been a unique case, but mine would just sit there waiting for me to hold him. He liked to try and play too, I had a ball he would try and roll around with. Since it sounds like he likes it once you have him maybe it will just take time? Try holding a nice treat, or some food for him so he can start coming to you.