I think it depends on what you want your parenting style to be, whatever you choose to do should be consistent though, as consistency helps a child to develop and feel at ease.

Sorry to see nobody answered your question yet !
Research shows that the more you respond to their needs like when they cry, the more secure their world becomes for them. They certainly grow up to be more secure adults and stronger in their own personality and self worth.
https://www.metroparent.com/newborn-care/should-you-pick-up-babies-every-time-they-cry/