Self soothing?

Angelique • Married
Hey ladies, my son is 8 weeks old today and he is the sweetest little guy. Recently my husband told be I am a helicopter mom and I need to let him cry, but I haven't been able to hear him cry and not go to him. I know his  wet, hungry, and pick me up cries,  but even when I know he needs nothing and is just fussy I pick him up and cuddle with him. Anyways, what are your thoughts about self soothing? He stills sleeps in  our room and we have a pack in play in our living room so he's always aware that we are there. That's another thing I get nervous about putting him in his crib for naps and overnight. Everyone keeps telling me he'll be fine but I'm just not ready yet. I like to me right there when he's sleeping.