Noisy sleeper

FTM here. My LO is 5 weeks old and is an insanely noisy sleeper when she is put down in either her bassinet or PNP. I'm talking grunts, moans, one-off crys etc (ofc she's a quiet angel when either my husband or I hold her while she sleeps). I'm so confused about when to respond. I feel terrible hearing her make noises and not picking her up but now I'm wondering if I'm interrupting her sleep/nap by responding too quickly? Should I be waiting till she is actually awake and crying before picking her up?