Do not blame yourself. Crying is how newborn babies speak for themselves. There is also the half-awake whimper that indicates the baby is dreaming and will likely fall back asleep. Some babies are very uncomfortable with a wet or dirty diaper and are asking you to change them. Babies should eat every 3-4 hours.
Most babies like to take a walk or a ride.
Try patting, rocking, singing, reading to them, or distracting them with toys. If active things do not work, try making things quieter. Maybe your baby needs to settle down to softer lights and music. Babies like to feel warm and secure. There is no right answer.