Most chickens I've met are not overly keen on being touched, let alone picked up. Some here went through stages when they didn't object to being handled.
The hens seem to change once they start laying eggs. I think, like roosters, being picked up is seen as some kind of mating.
I don't force the issue. Most trust me enough to get close enough to pick up if I need to. There are a couple, Fat Bird, Bracket and Moon in particular who I can pick up easily; they may even like it.

Friendly is good, but in my circumstances I end up worrying about treading on them when they're in the house.
There's another thing. In my house/coop I'm allowed certain behaviours that are not permitted outside. There is a very noticable division.