It is a learned process - use your protective wear, but keep a slow and purposeful approach to your beekeeping. Watch how the bees react over time and you'll know if and when you can go in there bare-handed, etc..
I watch the opening scene to Fear Factor and this poor schmuck is standing in front of a two super high hive, I don't remember if I saw frames or just bees, but literally a thousand are airborn and attacking him like mad. There is a time and a place for everything and everything in time.
Mentally, it took me a long time to go in their without gloves. I didn't mind shorts and teeshirts, that came pretty natural, but I was clumbsy with gloves, and it took me the longest time to figure out that it was the gloves getting me stung, not me: with gloves, I would drop the frames into place instead of smoothly placing them - this (I THINK) is the MAJOR CAUSE bees go airborn and get jiggy on you. With gloves on, I alway found myself dropping the frame back in place from about 1/2 inch above the reating point - what a terrible thud and Buzzzz goes the bees.
It's very important too to scrape off excess wax and propolis from frames at the contact points. This makes each inspection about the same instead of progressively tougher. I scrape frames and the metal rail the super lays on using a 1 inch wide wood chistle - which is MY tool of choice for a hive tool - It is 5 inches long, has a very sharp blade and gives me a great amount of leverage when needed to free frames from the super, etc. It's also fairly easy to palm while still having two hands on the frame and its round handle it too wide to fall between the frames if I drop it. I've used standard hive tools, which are really handy when dealing with frame building, but I like the nice run hard plastic handle of a wood chistle.
If you can keep the bees on top of the frames (rather than going airborn) you have very little chance of getting stung. When I started working without gloves, I found I could interact much better with frame handling. I'll literally stand there for 30 seconds just waiting for a single worker to get her butt out of the way so I can set the frame in place without squooshing her.
Every squooshed bee causes several to fly and then you greatly increase the chance of problems.
Don't ever think there aren't times when suiting up is necessary - when I HAVE TO GET IN AND GET OUT QUICKLY - then I have no reservations of suit, hood and gloves, but I do everything possible to arrange my bee-time when I have plenty of time to inspect, etc..
Don't ever give up trying to master your inspection techniques - dressing as you feel necessary will keep tension between you and the bees to a minimal - if you are ALWAYS awaiting to get stung when under-dressed, then stings are just a matter of time away. It's not something you can learn overnight.
Prying lids and inner covers off can jar a hive, just as loosening a frame can cause a stir - you need to pace your motions like tides splashing on the beach, give the tide time to come back in before you toss a net in the waters for fish. The most important FEEDBACK is the hummmmmmm of the hive. When the bees are reacting and their buzz changes pitch, stop, let them settle down and do another step.
I know we went through most of this before, just repeating myself for the newer members, beekeeping is like bass fishing, everyone can have a fishing pole and lures, but the pros have learned to see things through the bass's eyes. Bees give you plenty of feedback, subtle changes in tone is usually more than enough to make me stand their silent, observing and awaiting my next approach.
To quote one of my favorite movies (Glalaxy Quest) "Never give up... Never surrender!" all things in time - and if it never happens, you still have a wonderful hobby with plenty to learn always.