Sounds to me like you are doing a great job too! I used to swaddle my DS, lay him on his side in the cot, pat his back rhythmically and make a "shhhh" noise. This helped calm him down and he would happily go off to sleep.

A little grizzling isn't the same as controlled crying, I think sometimes they need to grizzle to wind down. When it became serious crying with my DS I would always investigate and give a cuddle and start the settling technique over again.

Go with and trust your own instincts, you know your bub better than anyone else