Skipper's cage has been in my room since I got her. I spend a lot of time close enough that she can see and her me. I think this helped her get used to me.
When she was little, I always cuddled her before bed time when she was tired. I also hand fed her a lot.
EDIT: Also, don't approach Loki from above.
Try leaving your hand in the tank for a few minutes and talking to him before you attempt to grab/pet him. Or, set a worm on your hand and see if he will come to you.