I've learned the ''stare-down tool'' from here on YT! It's been the only thing that works with ''catching'' Daisy.
It's very simple and apparently works for most yorkies. Basically, when you want her to come to you to pick her up and avoid the ''circle game'', you call her name [''Daisy, come here!''] and point to the floor in front of you. The key is to NOT break your stare. She might stare back at you so DONT lose your stare! Ask her again sternly, [DAISY, COME HERE!] and continue to point to the ground before you. She will give in and eventually sulk over to you/your finger.