hi,
Your baby is still very young, often they just need comfort, don't feel guilty that your picking up your baby. All the baby knows is you, therefore you are her everything so if something is wrong, they need you there. I think often as mums we get caught up in 'are we getting them into a bad habit' but sometimes its less stressful on us mums if we give ourself permission to go by our instincts - if you feel like your baby needs you - pick her up, if you feel like she just needs to let out some energy before sleeping, let her do it. You'll learn what she needs.
There is a good book called 'baby wise' i found it very helpful when it came to learning how to support the baby into getting into good sleep and feeding patterns. Once i started using this structure i found that i started to learn my babies cries, when he was hungry, needing a nappy change or burping etc.