He's normal.
Infants usually sleep a lot... if a baby is 'over-tired" it can actually be harder to them to fall asleep... and some babies/kids actually seem more 'awake' when tired. This indicates that they are OVER tired. Already.
Also, a baby cries or has a hard time sleeping... if over-tired and over-stimulated.
Infants/babies get over-stimulated REAL quick. Hence, they seem to 'struggle' even if tired.
Babies.. also "cry" in order to shut-out... over-stimulation. It is a baby's way, of shutting out things. Especially when over-tired.
It is also COMMON that a baby squirms/cries before falling asleep... they are drifting off... and trying to 'self-soothe.' They are only an infant, and that is how they do it...
And yes, a baby NEEDS comforting... and to 'need' someone to hold them... when tired, especially. Nothing wrong with that. It is instinct.
You also need to feed on-demand.... even at night and 24/7, day and night. Because, if intake does not keep up with them and their growth-spurts... they will not be happy and always hungry.
Always feed/nurse before sleep. And for wakings. LOOK for his hunger cues as well.
You said he stays awake looking around until he 'can't take it anymore...'.... this is not because he is 'bored'... it is because he is OVER-tired and over-stimulated, by then.
By the time they show drowsiness.... they are usually already, over-tired.
He is normal.
all the best,
Susan