Is he wriggling around when he wakes up? Maybe he hasn't got enough wind up & needs to be burped for a bit longer.

Are you catching up on any sleep through the day?

New babies do like to be held & cuddled. They also like the sound of your heart beat. Which is another reason he would like being held.
Do you still wrap him? Maybe you could try putting a used breast pad in the cot with him, or a blanket/sheet/wrap that has been down your shirt so it has your scent on it.
You could also try putting a pillow or something rolled up like a towel or blanket under the end of his mattress to raise his head a bit. It could help if the problem is wind.