Never ever refuse to pick your child up when they are small.
The time when they want you to pick them up is seriously short in real terms, and once it's gone, it never comes back.
I never refused to pick up any of my girls, or my grandchildren, although my grandson is only three, so he is still up for a pick-up.
I'm so glad I took those chances when I had them. I can look back and know i never missed a single chance to do it, so I don't regret not doing it now they are too big.