The way the Doctor saw it, he had two choices. He could tuck her in and let her go back to sleep. To the dreams that had her sobbing and calling out for him.
Or he could try to help.
"Rose, you were calling for me. C'mon, you'll feel better if you have it out." Blimey, a few minutes more and he'd be making her a cuppa like her mum and harping on her about compensation.