I agree with what Torey and Yms say. Some days Mosca will franticallly run to his hide when I walk into the room, some days he will run up to the glass, and if I open the door, into my hand. Some days he will let me pet him and almost seems to enjoy it, other days he gives me the "back off" look. You have to remember that they have their own moods and desires too!
The one thing I would *STRONGLY* recommend, is that when he is in his hide, leave him alone. Let that be a place he fells safe to be left alone. Even though it isn't a direct analogy I always think about how I would feel if someone kept ripping the roof off my bedroom and picking me up. 1) I would be pissed off and 2) I wouldn't feel very safe there anymore! Now, if you haven't seen him for a while and you need to check on him that is one thing, but you really want to keep that to a minimum in my opinion.
You could try hand feeding him when he is out and about in his cage. I "won" Mosca over by only giving him certain treats by hand. Though this does take time, and you have to try to minimize the size of your hand in the tank. Originally he would take food from my hand if it were flat on the ground, but not if it looked "bigger" from holding something between my fingers. I spent some serious time watching tv with my hand in his tank not moving so that he could get used to it and explore it while feeling "non-threatened". So, be patient, and remember your Uros perspective, you are bigger than Godzilla! LOL. 
Elizabeth
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1.0 Mali Uro Archimedes (May he rest in peace)
0.0.1 Egyptian Uro Zuberi Mosca Khu (Mosca)
0.1 Sulcata Minnie
1.1 Iguanas Flik and Loki
Madison, Wisconsin