Hi.
It's always nice to see a haiku. I noticed here a definite improvement. You have 5 words in the first line, 7 in the 2nd and 5 in the 3rd.

Syllables is one word, but is made up of 3 separate syllables. A haiku is, for the most part written using a 5, 7, 5 syllable count.

I'll break your lines into syllables:

My/ heart/ cries/ for/ you,
..
Miss/ing your warm lov/ing em/brace, I cher/ish..
..
Like sum/mer nights of blue..
^
As you can see line 2 has 11 syllables and line 3, 6 syllables

I hope this helps.

Take care.