You definitely do need to take control of the nipping and growling with a firm rememberable voice, angry facial expression and a period of shunning or pretending like he does not exist. I have watched my own puppies over the years and I think it also might be that you are interrupting a period of necessary activity especially if it is after you arrive home in the evening. You might try letting him play himself down before picking him up, the cats will also keep the activity in check if they need to. The nipping at hands I feel is best handled with a rememberable thump on the nose and a somewhat scary "NO".