Decoding Baby's Cry

Reading The Baby Book by Dr. Sears about attachment parenting. This quote reminds me to enjoy this time with Kirdan,

Life is a series of weanings for a child: weaning from your womb, your breast, your bed, and your home.

He is slowly but surely growing up right in front of my eyes.

So anyways, I am reading Dr. Sears because I have been struggling over how to best respond to a crying baby. My mom thinks baby is being spoiled because we pick up the baby too often ever since birth. But, he is only 10 weeks old. And I don't really want to have him "cry it out". What is a mom to do?