There will be sleep "changes" and phases all throughout babyhood and toddlerhood.
Sleep for a baby/child always changes, per growth-spurts/developmental & cognitive changes and hitting milestones too. AND, they often occur all at the same time... not one at a time exclusively.
Your baby seems fine. Don't worry about "bad sleep habits" at this point. A baby needs to sleep and will eventually have their own "rhythm" & ability about it. Some kids, (like your son needing you to fall asleep) and my daughter is like that... are different.
The main thing is going according to their "cues" for tiredness... and having a regular consistent pre-sleep and bedtime routine. Kids NEED to also have a wind-down period before actually hitting the sack. So they can unwind. AND, what helps, is not to get too "overstimulated" prior to bed or nap time. This will only get them too hyper OR over-tired to actually sleep well. Overtired-ness actually prevents a baby/child from falling asleep well and sleeping well.
Some babies, (like my kids at that age), will sort of fuss or make noises or babble/play before actually sleeping. That's okay. Let them. And often they will fall asleep on their own... its sorta of them having their own "routine" and self-soothing routine before falling asleep. For me, if I interrupted that process in them... I actually "woke" them or irritated them.. and THEN they would start crying/screaming and NOT being able to fall asleep or get themselves in sleep mode.
But if the baby is actually CRYING and needing you... then comfort him. Its okay. He is a baby and they need that.
Don't worry... it will work out. When my daughter was around and I was trying to put my younger son to nap... I merely explained to her that at these times she has to make "quiet" and let Mommy take care of brother... and play by herself. And then she understood. THEN, after I put her brother to nap... it was HER time and Mommy was right there. But we ALL have to work as a "TEAM" otherwise her brother will get TOO tired and fussy, and that's not good. She understood. Kids need explaining to, about their baby siblings. So they can understand... instead of just trying to read Mommy's mind. AND, whenever her brother was napping... this was QUIET time. It was my daily everyday routine with them, every single day. SO, my eldest child completely understood. And when her brother was napping, my daughter fell into place. Its the routine you create... to help you... that if done consistently, the kids will understand.
all the best,
Susan