helicopter parenting?

I'm hoping to get some opinions and advice, please! Our son is 4 y.o. and has been home for over a year. He has bonded with us really well. Even though we don't have attachment concerns, we do see it as a very long process and it's something that we continue to be intentional about. His therapist has concerns because of the number of times he was moved in his first 3 years. I wonder, though, at what point might we just be making him think that the world revolves around him? We still rock him to sleep almost every night and if he does fall asleep in his bed, we stay in the room until he's asleep. We've also been pretty active in helping him enforce his boundaries with other kids and will step in if he's telling another child to stop and the other isn't complying (especially if he's feeling afraid. Sometimes we let him deal with situations of simple annoyance, if it doesn't go to far). His therapist has also said that, because his needs were not met consistently when he was younger, he may need us to help him with things that he's very capable of doing on his own at times. What do you think, are we just spoiling him, or are these things beneficial at this point? My main concern is that if he doesn't emotionally need these supports, babying him will hold him back. Sometimes it's so hard to tell what is just an age-appropriate tantrum and what indicates a deeper need! (You've probably guessed that he's an only child and we haven't parented this age before - our foster kids were all older.) I realize this isn't a lot of info to go on, but it would be great to get some opinions on this from more experienced foster/adopt parents. Thank you!