Sleep crutches

FTM here. My LO is 10 weeks and I'm trying to establish good sleep habits. All the articles say "put them down sleepy but not totally asleep. Don't let them always fall asleep with a crutch (rocking, nursing, in your arms, etc)." We're working on a bedtime routine of bath/nurse/book/bed but problem is my guy almost always falls asleep nursing. Should I be waking him a little before putting him down? Or should I stop him from nursing when he starts to drift off? Any advice is appreciated!