Yes, sorry to say the only way is keep trying

Nobody finds picks easy when they begin.
It's something I keep banging on about because too many guitarists transfer to steel and assume their old technique will work just as well. It doesn't, and there are reasons. Finger-picking guitarists will arch their forearm/hand over the strings and pick from that angle. Here the fingernail points are nicely placed to pick the strings in a clean way. On steel guitar the angle of attack on the strings is different because the hand, at the wrist, is turned clockwise more and rested on the strings (mentioned in an earlier post?). This is for the need to block with the palm edge and that angle of attack makes the picks hit strings more on their left side than just at the points. Also your fingers are more curled up under the knuckle for steel guitar.
I do need to concede that there are some (very few) good steel guitar players who don't wear picks. But they came to that decision after several years and for their own reasons. Remember that the default is play with picks on.
Please work on wearing picks from the start and it comes with practice: but if you keep changing (picks on, picks off) you'll never be comfortable either way.
Here's how I wear them, curled round the finger end, but you might prefer them straighter or further off the nail, you'll find your way as you go on. And I bend the ring part like a funnel, not cylindrical, and find that grips better.