You must arrive at the spot where you will pass before the ball does. Don't arrive just in time, still moving when you pass the serve. You want to be stopped before you pass whenever possible. Control your body position. Your body is stopped and in a controlled position, arms in front, when you pass.
Any extra movement makes it more difficult to pass correctly.
Keep your arms flat and away from your body. Don't bend your elbows or keep your arms too close to your body. Your forearms must provide a large, flat platform for deflecting the ball. Don't swing your arms. When the ball is travelling quickly, you don't need to add extra momentum to it.