Does letting my 1 month old fall asleep in my arms cause more harm than good?

My 1 month old (5weeks) struggles to self soothe and fall asleep by himself when placed in the crib awake at night so I often find myself holding him till he falls asleep and if i’m lucky I can transfer him and he can sleep a hour or two in his crib.

I read an article saying that holding your baby to get them to fall asleep can cause them to not learn how to fall asleep on their own. Please let me know how much weight that statement holds and if I need to actually start letting (making) him learn to fall asleep on his own?