Ultracold polyatomic molecules containing heavy nuclei, such as SrOH and YbOH, are sensitive to T- symmetry violating and P-symmetry violating physics beyond the Standard Model through the electron’s electric dipole moment. Furthermore, SrOH is sensitive to ultralight Dark Matter through measuring time variations of fundamental constants. However, in order to make full use of these molecules, they need to be cooled to ultracold temperatures and held in optical traps. We have realized a magneto-optical trap (MOT) of SrOH and used this as the essential element to achieve optical trapping in the microKelvin temperature regime. We observed MOT lifetimes approaching 200 ms with temperatures ∼ 1 mK and observed damped oscillations in the MOT. We further cooled the SrOH molecules to ∼ 40 μK using Λ-enhanced gray molasses, and compressed the cloud to about 100 μm size using the conveyor belt MOT technique. Using this ultracold dense cloud of SrOH, we loaded an optical dipole trap (ODT), with a molecular lifetime of 1.2(1) seconds. In separate experiments with YbOH, which is heavier than SrOH, we demonstrated a novel deceleration method (Zeeman-Sisyphus deceleration) that can slow YbOH to under 20 m/s with only a few photons scattered utilizing high magnetic fields up to 2.5 T. By driving spin-flip transitions at the maxima and minima of the magnetic fields, slowing was achieved, which is a critical first step toward loading of a MOT for this species. We addressed the challenges associated with driving spin-flip transitions in molecules that have molecular perturbations among the electronic excited states and developed an understanding of the physics of such systems that is applicable to a wide range of molecules.