Are we holding our one year old too much?

We have a one year old on the verge of walking snd has taken a few independent steps here and there already. He does not seem particularly motivated right now to walk and I attributed it to the fact he just started pointing and working on communicating more. A family member commented yesterday that he has no reason to walk because "we do everything for him." and had been telling my husband that we pick him up too much and if he cries, don't pick him up because he will be more motivated to walk to us. We haven't been listening to her. We don't hold him all evening or anything, but if he communicates that he wants to be held by crying, crawling to us or pointing, we pick him up. Am I missing something though? Thank you!