Yep, like the guys said,
I would work on building trust with your monitor first, without handling or grabbing it. No monitor really likes be handled.
Try feeding it using long tongs at first, eventually getting it closer and closer to you with food.
Let it know that you aren't a threat, but someone they will look foward to seeing.
It will associate you with getting fed, all the while gaining trust. It will take time and patience but can be done.
Actually, if your cage is set up correctly, that is, multiple hide options throughout the cage, you should be able to do 90% of your maintenance with the lizard in the cage.