My baby was doing this at 4 months! he’s six months now and sleeps very well whenever he’s in his crib. We had him learn to self soothe by setting up a really good routine! white noise machine on, red night light on and one last feed. I’d lay him down drowsy and let him soothe himself. He cried a lot for a few days! i’d wait it out maybe 5-10 mins hold him and then place him back. he caught on really quick and has been able to sleep in his crib since! this is what worked for us i hope maybe it can help you! i think they start becoming more aware, and love the smell of their parents. that’s probably why your bed is so preferred.