I feel like a bad mom😞

Last night my baby was fussing just a little bit, the way he usually does when he wants attention. I got up, gave him his binki, and he seemed ok for a minute so I went back to bed. He kept fussing a little so I just kept giving him his binki. Well a little while later I picked him up to feed/ change him and he was soaked. He was covered in pee and he had pooped. I didn't know he needed changed when he was fussing because he gets really mad when he poops and he wasn't mad like he had pooped. So he had been laying in a messy diaper for hours and I didn't know. I feel terrible and my bf just said "any time he fusses even a little bit you need to check him" instead of comforting me or something. I also don't feel like I have as strong of a connection to my son as I should.....😞😢