Make sure too that you are not trying to come forward when picking it up, as I see people pick up foot and not move back so they don't have as much leverage.
You should be in line with back of leg when you have rear hooves picked up. You pick up, and move to rear of horse, so you have foot held.
And don't V your hand on rear feet. Cup them, so all fingers and your thumb are on same side of leg.
You can V on the fronts, and when pick up, grasp hoof and tip to your knee so it is resting on it almost.
Horses make me a better person.