What Causes Excessive Crying When Carrying Or Taking The Infant Out In Public?

My baby boy will be 3 months old next week! He seems to really hate being held and when picked up to feed usually excessively cries as stiffens body! He seems content when on his play mat and swing. Hard to take him in public due to his crying and wanting to be put down. He enjoys his car seat some! I am trying to get him out in public more and used to others.