Dummy is key for no-crying settling, in my experience. It is absolutely essential in my view. It's a physical impossibility to cry while simultaneously sucking.
So it boils down to either you get
(a) independant sleep with crying
(b) get independant sleep with a dummy, or
(c) baby's sleep is not independant (ie in your arms, feed to sleep etc) but without crying.
So to answer your question: How would I settle him in the cot using your above process but if he's crying and won't settle?
Without a dummy, baby is going to cry to sleep. You just have to keep going and try your best to sooth through it. Patting and shushing can help. And closeness. But there just will be crying, you have to just accept that and either power though or choose to not go for independent sleep. If you do power through, the amount and intensity if crying will reduce over time. You won't always be soothing a screaming baby for hours at a time. But you probably will be initially. Being consistent is important.
If you do use a dummy and baby is crying, look at ways to encourage active sucking ratger than dummy being passively in the mouth.
Finally, some babies are very hard work to get to accept a dummy and they are not quickly accepted by all and every baby. But (As you can probably tell from my post) I definately think it's worth the effort to get baby to take it.
Dummies are simply amazing for no crying, independant sleep. The only substitute for kind, gentle, no distress baby sleep is feeding to sleep and cosleeping. That's the opposite of independent sleep though.
However, 5 months plus is probably too late to get a dummy established if it isn't already. So it's probably a moot point. Worth a try in my view, but much less likely than getting a 1-3 month old to establish dummy use.
In which case, your first barrier to overcome if you want independant sleep is that baby will cry. Instead of aiming for baby not crying (and veering towards dependant attachment parenting methods), accept that baby will cry and comfort through the crying, instead of attempting to stop the crying.