I have a perfect 3yr african grey congo except...?

I cant get my bird to come out of his cage. If i just open the door he comes out on his own eventually. I would really like to be able to train him to come out of his cage when I tell him to and step up on my hand in case I need to get him out for an emergency or something. I have read that this is just how they are and I have read if they are raised right then they will come out when you want them to. We started him with a giant macaw cage bc it came with him. We read it'd be best to get him a slightly smaller one especially if he wont be in there long periods at a time. So he cant really like being in there THAT much. I just want to know how i can get him out when i want to and not have to wait for him. He is 3 yrs old and we have had him for a month. He is the sweetest bird in the world once hes out. I have also tried treats and he doesnt like them. I dont know what his last owners did to him but all he will eat are birdseed, fries and tomato's! Help please!