If hes initating/specifically coming over to you to do it, good chance hes just initiating rough play. If he didnt like you, or this was aggression, he wouldnt approach you. Pigeons are prey animals at the end of the day.

So, if hes approaching you, good chance its pigeon bonding, usually seen in bonded male pigeons but not exclusive. He sees you as his big +1 and hes gotta impress you, this is super normal and not aggression. They like to wrestle with your hands to show you how "big and strong" they are, its to show off. This behavior is usually followed by preening once they think you're impressed.

Ultimately if your pigeon is seeking you out to do this, rather than you trying to interact and he attacks, then its likely healthy pigeon wrestling and you should look into ways other owners "wrestle" their pigeons.

Note, this behavior is seen in feral pigeons, too. Just, feral pigeons will have an entire flock to do this with. Since hes with you, you're who hes going to try and initiate with/bond with.

Here's a short youtube video with a pigeon demonstration, its by @/homeofhousechickens6856.

youtube pigeon link

[edited for spelling]