You don't. They are either fearful or less fearful. While birds are social creatures and may tolerate your proximity and approach you when you feed them, they prefer not to be handled. They learn to fear you if they expect you are going to try to pick them up every time.
Some birds have a "freeze" response when they are picked up, which some people mistake as "calm" or "friendly"
Some breeds are less fearful than others. For example, my MGBs will run up to me and i can pick them up, they hold really still and just patiently wait to be set down. They will even jump up on my shoulder when I am filling their feeder. I didn't do anything different with them, they are just fearless. And I know they don't think of me when I'm gone or hold me to any high regard.
I hate to be so contrary, but when people expect their chickens to be like pets it only sets you up for disappointment. I appreciate my chickens as much as anybody, but I have realistic expectations of them.
