I know it’s normal for younger babies to want to sleep in your arms and stuff but I don’t want him to get used to it for when he is older.

I tried getting him halfasleep and then putting him down, but he ALWAYS wakes up. I tried letting him cry for a little bit, and of course putting him down while sleeping but so far nothing works but having him in your arms... is it still okay that he does it? Should I try harder to break that cycle or when is a good time to try?