Welcome to the site!! congrats!!
Yes, totally normal for mom to clean the babies in pouch. When you start seeing body parts (lets and tails) sticking out of the pouch it's only another week or two before they are actually "out".
If you are bonded with them, then it's fine to take them out as you normally would.
Since your new to the site and being a g-ma, do you mind if I ask what diet you feed? You wanna make sure mama gets extra protein, well extra everything so she can produce enough milk for the joeys.
Here's a great site - read everything on rejected joeys, and maybe start getting together a rejection kit just to be prepared. Also read up on breeding, it will tell you everything you need to know about joeys and their growth. http://www.suzsugargliders.com/