Yep he's just getting used to you, and he's probably stressed from being in a new home. Try picking him up, but make sure you bring your hand towards him slowly and from the front or side. Beardies see things coming from above as predators. Once you have him in your hands he might realize you're not a threat, and from there you can give him a warm
bath to relax him. Just make yourself known to him for a few days and he'll come around.