have i pissed him off?

Just cleaned stan out and im a bit unsure when it comes to picking him up. when i finally got round to getting him out he went all kamakazi and jump off my hand. he didn't fall far (out an inch or 2) but after that tried to sting me. have i annoyed him? and what the best way to pick him up?

Probably.

Place your hand flat and encourage him to walk backwards onto it with something using the other hand. Once he's on your hand he should be fine - as far as he'll know your hand is now a soft pinky ground so it wouldn't make sense to attack it now would it?