It is okay to have a comfort object. No matter how old you are it's okay to have a comfort object. Even if you're not mentally ill it's okay to have a comfort object. If you are a living breathing person it's okay to have a comfort object.
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What most people fail to grasp about etiquette is that at its core, it's all about making people as comfortable as they can be. Sure, there's a lot of pretension added onto that core concept with the fussy rules, but etiquette and good manners are really just a social lubricant that's there to make socialising as smooth and easy as possible for all parties.