Is there a right and wrong way to pick up a cat?

I usually pick up Berthe (my cat) by putting a hand under her chest and another under her belly. But this made me think..
Wouldn’t it hurt to be partially picked up by the stomach?

Anyway, was just curious if there was a better way to do this that maybe wouldn’t put pressure on her in uncomfortable places.
(I’m really probably reading too much into this, I know, I know.)