If you get lots of yeast pickup from a secondary, your racking technique is likely the culprit. Keep a close eye on the color of the beer in the tubing as you transfer it - you want it to look clear (unless we are talking Witbier of Hefeweizen). If it is opaque, lift up the racking cane a little bit so that you siphon from above the yeast/trub bed.
You may also want to work on minimizing trub transfer from the boil kettle to the fermenter by boiling the hops in a 5-gallon pain stainer or nylon bag stretched over the opening of the boil kettle, whirlpooling, siphoning and straining your wort as you rack into the fermenter. Trub in the fermenter doesn't hurt your beer, but minimizing it makes racking easier.
Adding finings like gelatin can also help compact the yeast bed, as can cold crashing.
Finally, work on your pouring technique. Pour your beer in a well-lit environment - you'll be able to see the sediment moving up to the neck of the bottle as you pour, and you can learn how to stop just before the mess makes its way into the glass. With some experience, you'll leave maybe 1/4" of beer behind in each bottle and end up with a crystal-clear product in the glass.
I hope this helps, and WELCOME TO THE HOBBY!!