If the tank is glass , and he's a juvenile (as you said) , he's likely entering his puberty and getting a bit hormonal , he likely saw his own reflection and got cranky about the ghost dragon always staring back at him.
Getting him out, try coaxing him with a wormy or buggy food treat , place it on the open upturned hand and place the hand where he can see it (and the treat) , when he's come over to take his treat , slip your hand under his tummy and place the other hand over him and lift out onto your lap or tummy or chest and deposit him there with the covering hand still over his body.
Do this at the same time every day and make a routine / ritual of it , he'll soon be coming to you wanting to be picked up and snuggled.
I take it your tank is top opening - he's seeing a looming figure and then scary snake things , and that's why he's scared of being picked up.
This is one of the reasons why top opening tanks are a very poor choice.
This issues is easily solved by converting the existing tank to front opening - see this for how :
viewtopic.php?f=34&t=246739
It's perfectly OK to let him explore the floor
IF YOU MAKE THE FLOOR BEARDED DRAGON SAFE (block off any places he can slip under / behind and anything on the floor that's small enough to be ingested and might pose an impaction risk is removed from the floor before hand (we run the vacuum over the carpet to be sure and remove any dead or dying roaches that sometimes find there way inside from nextdoor, and we never use surface sprays or flysprays - a few spiders, flys and roaches in the house are tolerated) , and
KEEP THE CATS OUT OF THE ROOM .
I generally start letting my young dragons have short periods of supervised freerange time from about 6 months old (about 200g) . In our case they get access to the lounge - room , the living/dining room and kitchen and hall (that leads to the bedrooms, study, bathroom and laundry whos door are all closed) and half the floor they have access to has carpet , the other half is lino.
They are usually hilarious to watch on the lino when all four legs are going at warp speed and they are not moving very fast at all because their tummy is on the lino … pitta patta of tiny feet...