He could do it whenever he wanted to now but that was almost pointless if he couldn't do anything with them. Tyki didn't have any problems asking for help. He almost made it a point to attract attention to himself.

"When they want to pick things up they definitely will," comes another annoyed tone, "I can't make them pick up anything unless they want to." He wants to change that.

The tentacle mimics Strange's swatting and he'll find himself swatted back with a short wiggle at the tip. He's trying to pay attention to Strange but he's more focused on wandering tentacle. "It could likely pick you up given the chance. It tried to pick up the couch in our trailer when it latched onto a leg." He's more worried about it picking up Strange and tossing him across the room.