It sounds like you might be mentally stopping yourself as you pick, out of fear or uncertainty. It also sounds like you are pitching forward as you pick instead of arching your back and keeping your weight on the heel of your skating foot. You are probably picking too hard because the forward lean is making it hard for you to pick effectively. So keep your weight on the heel of the skating foot, keep your back arched, and then start to straighten the skating knee just before you pick, rather than picking when you are still all the way down. When you do that, the pick is neater and it's easier to bring your legs together as you take off.
Another good trick is to think of grabbing a doorknob and opening the door toward you as you pick and pull back on takeoff. In other words, start with your left arm out in front of you (assuming you pick with your left toe), then pull your left elbow back as you take off. That will help you get the pull back with your feet as well.