Yes, he will become more calm when he gets bigger. Many bearded dragons are often quite spry when younger, and do not like to stay in one place at a time. He probably just wants to run around. You should take him in to a "beardie proof" room, like the bathroom, and let him wander around. Hand feeding always helps develop feelings of trust, and he will begin to associate your hand with goodies! If he is freaking out too much, do not let go; gently hold him until he stops struggling. In order to calm down, I find that placing a hand over his head to create a dark space makes them feel secure.
Let me know how it goes! Patience is the key with taming.