Lovely pigs, Sewing.
OP, I'd agree with the others: it will take time, patience and food
Personality will inevitably play a part too, some pigs will just naturally be calmer than others. Of our current four, three are very happily to sit on a lap and snuggle; the fourth sees no point in a cuddle unless food is being offered, and never really relaxes when being held; he's just a restless, antsy kind of guinea pig by nature.
Our most recent arrival came to us as a baby (about 8 weeks) just over a month ago and is only now beginning to show signs of becoming more confident: she will remain sitting in the main part of the hutch when I approach it, rather than scuttling instantly away to hide. She's not yet coming to take food from the hutch bars, although I think she will soon. In contrast, one of our other girls, who came to us at about a year old from a rescue, was taking food from our hands by day two...
I don't know if any of mine recognise their names, but they definitely know my voice. They tolerate other family members, but my arrival is usually greeted with enthusiasm. If they hear me talking they'll squeak wildly in the hope of being offered food and are usually successful, they are spoiled rotten
Keep at it OP, they are fabulous little creatures once they are settled in.