Do cats benefit from reassurance?

And if so, then can you give some examples of acts of reassurance you've found helped your cat?

I was wondering because I noticed in the last couple days that Prince will cry for my help to get down from the trees in the park, he's afraid to come down, then I sit on all fours beneath him under the tree and call him (to jump on my back), that moment he stops crying and comes down the normal way (doesn't jump on my back).
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