It could be the case. I have found sometimes with my DS that sometimes I stimulate him rather than calming but each time is different. We have found it is better to pick him up to rock only if he is crying as if he isn't but is just grumbling then it can overstimulate him and he starts really crying. In fact this is true of DS for all touching including stroking of the head. The only exception is if he is sleeping on his side he likes his bum to be patted (like you would if he was being rocked). If he is just grumbling (especially if his eyes are closed and he is obviously trying to sleep) sometimes it just helps for us to do a 'shoosh shoosh' sound repeatedly or to wander around the room quietly tidying up so he knows we are there. Then if he starts to cry we can pick him up for rocking etc. Generally if he then won't settle it is because he was too over tired in the first place.
I guess some things we think would be comforting aren't always to them.
Puzzles wrapped in enigmas - lol!