First of all, you can see he was pinching his thigh, that's why he moved his hand away. Second, if you said he hated Tao, you clearly don't know him. He doesn't hate Tao. He is like that to everyone (even Jongin). He might not look friendly, but that doesn't mean he hates other member. He is not loud like Baekhyun or Chanyeol, but that doesn't mean he can't be playful. Kyungsoo is a nice person, but sometimes he is so honest that he ends up looking rude. But that's why I love him most, he never bothers trying to look happy when he is not.