The biggest thing is balance, if you are really balanced/comfortable in the air than you should be able to do any grab pretty well. Otherwise try this, what you are probably doing is crossing and grabbing while your feet are directly under you, instead bring them more to the side, grab and pull them more to the side or back.
'I would be embarrassed to constantly complain about my life considering all the freedom and opportunities we have today. People that can't find anything they enjoy in life simply aren't giving it a real try.' ~Nick 311