My daughter was a thumb sucker. My husband hated it. However, the more he threatened her with punishing her, the more she felt the need to comfort herself.
She only did it before going to sleep and she would suck her left thumb and use her right hand to rub her left elbow. It was a comfort thing. If she pulled the blankets up over her head, I knew what she was doing. She was sucking her thumb "in private".
Anyway, I think that what your son is doing is mimicking what his baby brother is doing. I don't think he needs medical help at all.
He likely longs for the days when HE was the baby. He may be not even conscious of his actions.
Give him plenty of attention, let him know he is loved and he will always be your first baby. Let him know that you are so proud of the "big boy" he is growing up to be. Enlist his help with doing "big boy" things that his baby brother can't do like baking cookies or decorating cupcakes.
He could be feeling like everything is about the baby.
Let him know how important and special he is for being a big brother.
Make time for him alone as much as you can.
Let him know he doesn't need to be a "baby" in order to receive your love and attention.
Look at things from his point of view and I'm sure he'll be fine.
Just my opinion and best wishes.