After defeating Kilij Arslan and winning the battle of Dorylaeum, it really cheered the spirit of Crusaders, and that motivated them for their further endeavor.

We already know that the Crusaders wanted to conquer their Holy land Jerusalem, but if you look closely at the map, you will find that Way towards the Jerusalem was gone through Syria, and for this, they had to reach the Antioch first, and this was three months of marching from Dorylaeum to Antioch.