So I never let my baby cry really I always get up before he cries and now he's crying for no reason…

So I never let my baby cry really I always get up before he cries and now he's crying for no reason I took him off the boob because he fell asleep and now he's just crying in his bassinet he's not hungry, he's burped, his diaper is clean, there's absolutely nothing wrong with him. Is he crying for comfort because I always run to get him before he cries? Daddy saids to let him cry... But it breaks my heart... What should I do? 😩