That is not what catholics believe. Jesus’ death on the cross was atonement for original sin, the sin of Adam. God created Adam and Eve perfect, without sin, in His image. Man was originally meant to dwell with God in perfection. But man sinned and brought death, suffering, and punishment to himself. Since then, until Jesus, God required sacrifice and atonement for this original sin. But none of that sacrifice or atonement was great enough to pay the price man owed God for original sin. Such a price had to be paid by diety. So God became man in Jesus, and died on the cross as a sacrifice, as atonement, and paid that debt that man owed to God for bringing sin and death to the world. This allowed man to once again dwell with God in Heaven, in His perfection. Until then, souls did not go to heaven after death. Because God loves us so, He sent His only Son to die and pay our price. In order to take part in that, man has to take part in baptism to wash away his original sin.