How do I encourage my 4 year old to not cry over everything?

You're coddling her. If she cries, ignore her. She's four, it's not going to hurt her. Even things like when Grandma leaves, if you "give her emotional support" then, she's never going to understand that these things are normal. She's going to fall down, Grandma has to go home, and some things are scary. Eventually she has to deal with these things, and it's best to help her do so now, so she's not a crybaby when she gets to school, and gets a paper cut.