My lo is nearly 6 months and i do everything that you listed. He was breastfed when he was really young and i fed on demand, as they get older they get into a routine and ive now started weaning him. We co-sleep, my mum kept saying to me in the early days that its a rod for my own back and he'll never go in his own bed, but at the end of the day he's my baby ill parent him how i feel is right for my son, and if he wants to sleep in my bed then he can he'll go in his cot when hes ready. And as for picking him up when he crys, a baby at that age cries because they want something not just for the sake of it. I think your doing everything right your definatly not a bad mummy. xxx