Try not to stress about creating 'bad habits' (hate that phrase) OP. Your bub needs to feel safe and secure in these early days and it sounds like you are doing are great job.
Some bubs start sleeping better on their own, but when that will happen is obviously dependant on the baby. Others might need a little help, and if this is your bub down the track remember there are gentle methods you can use to help them adapt to new sleeping areas (if you move him from co-sleeping to cot) or new settling methods. Really try to not worry about any of that now though, just enjoy your tiny squishy little baby.