It could just be not wanting to be apart from you, which is totally normal. You could try swaddling or a swaddle bag? One of the only ways we could put ours down was waiting for the sweet spot where he was in a deep sleep and wouldn’t be disturbed by the change - this was 10/12 minutes for us x
hmm, I totally get that struggle, but it's best to stick to putting him on his back for sleep since that's what the guidelines say, even if he seems comfy on his tummy. Just looked it up on the 'Heal Baby Care App' and here's what it says: "It's great that you're attentive to your baby's sleep patterns and safety. The American Academy of Pediatrics recommends that infants sleep on their backs to reduce the risk of Sudden Infant Death Syndrome (SIDS), even if they can turn their heads. If your baby prefers sleeping on his stomach while on your chest, it’s best to continue placing him on his back in the bassinet and try to create a calming sleep environment, like swaddling or using white noise.
Most babies prefer to sleep on their tummies. Unfortunately the safest option is for them to sleep on their backs (which they hate). https://www.lullabytrust.org.uk/baby-safety/safer-sleep-information/sleeping-position/