Feel like I’m failing my baby 😩

My baby girl is 6 weeks old today. I have the Halo bassinet and she had been doing a great job sleeping in it but lately she’s been refusing to sleep in it AT ALL. I lay her down in it and even if she’s completely asleep she screams the second i put her down. She only wants to be held to sleep and my husband and mother in law (🙄🙄🙄) both tell me it’s because I hold her too much and I’ve spoiled her... she’s been sleeping next to me in bed the past few nights and she loves it obviously because she’s right up next to mommy... but i know co-sleeping is considered dangerous and I feel like I’m playing with fire and something bad is going to happen😭😭😭 any advice or even just thoughts or opinions? Thanks ladies!