Adam, there is no reason to pick up your puppy. NONE! If you need to bring him to another part of the house and he has dirty paws, this is the perfect time to teach him some patience, and that getting paws cleaned is fun. Have a towel at the door and have him stand and take each paw in your hand and clean it off with a towel.
Be sure to praise / reward him when you're done.
I started doing that with Kyleigh when she was really young, and now when she comes in, she just stops on the mat and waits.
Since he knows how to shake a paw - you're halfway there!!!
Marion’s Zoo-Kyleigh, Raylan-cat, Echo-TAG,