Tips of getting baby to fall asleep themselves?

I’ve read it’s best to put baby down to sleep drowsy but still awake and get into the routine of doing so. My babe is 4 months old and he will usually only fall asleep with a pacifier, occasionally being rocked, occasionally falling asleep at the breast. I really want to teach him good sleep habits and 4 months is a good time to start now that his schedule is more predictable.

But no matter what I try like laying him down when he’s awake but drowsy he will just wake back up and be fussy until I help him fall asleep. Do I just keep at it and be persistent? Or any tips so I can help him?

TIA