K.M.
Hello. Your best bet is to talk to the daycare provider. We had some concerns this year as our daughter cried more at drop off and at pick up she would say in the car that school was not fun. After watching her play before she noticed I was there and talking with her teachers, we became assured that she was just fine. They assured us that within 5-10 minutes after drop off, she was off playing, she naps better than last year, and I found that after asking more than "how was your day" .... more specifically asking if she played with specific children, then I found out what her day was really like.
I understand that yours is too young for that, but have faith in yourself. I assume you picked a daycare you are comfortable with and you find the teachers trustworthy. Talk to them and be sure on the way to and from school that you talk about it in an excited tone ... maybe he doesn't understand all your words, but he will understand your emotions and feelings. If you are hesitant and reluctant, he will feed off of that. If you make it a big deal and keep it positive, it will be more helpful.
Ultimately, know it may take a while - he is accustomed to having 24hour access to you and having his needs met quickly, rather than having to share time with other kids. If you picked a place you are comfortable, he will be just fine.
Not all parents have the option of staying at home, nor can everyone afford someone coming into the home. This is nothing to feel guilty about. If you are like me, it really is a joy to pick up my daughter after work - she is excited to see me, I am excited to see her - and our time becomes very precious.
Good luck.