I feel guilty that I didn’t enforced stricter crate training to my dog

My puppy is 10 months old now and the first half of his life he is good with his crate, its not his favorite thing but he accepts it, especially if I have to leave him for a few hours. But as he gets older, I let him sleep with me in my room, in his own bed of course. Now if i put him in his crate and he knows that we’re just around the house, he cries and wouldn’t relax. He’s okay in his crate when we’re not around tho.