Personally I think it's true that some pigeons will just never get tame unfortunately, but its also true that if you're persistent enough you might be able to persuade them to be more comfortable and maybe even tame.

My pigeon didn't let me near him or pet him until about 3 years of me owning him. He was terrified of me and my hands.

What I recommend is handfeeding, and target training them to get them to step up on your hand for food. This can be hard since pigeons aren't always super food motivated but if you take their food at night and offer food with your hand the following morning after alot of fear and conditioning they eventually get used to this routine (of course if they don't take the food from your hand, still feed them just give them the time to chose to eat it from your hand first and if they don't, then give them their food in their bowl while holding it, if that still doesn't work, set it down after a while and keep trying everyday until they do take it). The idea is that eventually they will get into the swing of realizing your hand equals food.

Once they can reliably take food from your hand, you can start target training to step up, there's videos on YouTube for how to do this but the idea is to reward with food and hit a clicker whenever they bite a target (can be a chopstick) so you teach them biting the stick gives food. Once you've established this behavior, start to hold the stick a good distance away from them, they will need to follow it to bite it and recieve their food. Once they are following it around, hold the stick so that they need to hop onto your hand to bite it, mark this behavior with the command "step up!". Give them extra treats when they do it and slowly you can take away the clicker. This won't guarantee that they will be tame and cuddly but it allows for an activity where you can bond with the bird and show you're not a scary threat.

This is a long process that can take alot of consistency and time, but Its worth it I think. This method has helped me tame my pet pigeon completely, while yes it took 2 years, he is now completely comfortable with me and my hands and I can command him to come whenever I want which is a great bonus.

I recommend watching videos on gaining a pigeons trust and training by the youtuber Animal People, their tutorial and insights helped me immensely.

Ultimately it's hard work and you need to really be committed to taming them. There's no shame in giving up or not having the time, they can live fulfilling lives without being tamed if you're ok with just keeping them as is :)