Sleep regression or clingy baby?

Some nights 4months+ baby can sleep in his cot & wakes up around 4-5am to sleep with me (in fact, on me because he loves body contact). On other nights he will cry no matter how I pat him, he would sleep better when sharing bed with me & my husband. I wanted him to sleep safely but I couldn’t figure out why he sleeps better on our bed than in his cot. Is it sleep regression or he’s just a clingy baby? #firstmom #firstbaby #firsttimemom #help