He doesn't dislike you. Puppies are smarter than that. They know by your reaction whether it was an accident or intentional.
When you've caused a yelp (and you will - it's perfectly normal) just give him tons of hugs and kisses instantly and he'll understand.
When you've caused a yelp (and you will - it's perfectly normal) just give him tons of hugs and kisses instantly and he'll understand.