I know exactly where you are coming from, I go through the same thing with my daughter. Yes, there is consequences to picking up your child everytime they cry (good and bad), but that is YOUR decision. I think people are allowed to give their advice, but then they need to stay out of it. You are the mother and YOU and ONLY you make the decisions on what to do with your child as far as how you love them. I believe you should stand your ground right now and tell them how you feel. "This is my child and I chose to pick him up, thank you for the advice, I appreciate it, but I am going to chose what I feel is best for my child" something like that. That is what I would do. I am always willing to take advice from others, but when they keep pestering me and judging me, that is where I draw the line. Everyone has different opinions on how to raise children, I feel like you should do what you feel in your heart is right. Listen to others opinions, but ultimately make your own decision. I think the father should have a say in decipline, schools, you know, those kinds of things, but not in how to love a child.
Remember, don't let others make you feel like a bad mom, especially for things like that, its wrong. You are a good mom and you take care of your child to the best of your ability. No, not everyone is going to agree, BUT THAT'S OK!!!!! They don't have to.
I wish you the best! Take care! Hope everything works out!