That musty scent is often caused by moisture getting trapped in the mattress. Avoid having liquids around your bed. If something spills, blot and clean it up immediately to prevent it from seeping into the mattress. You can also invest in a washable mattress pad, which is easy to remove for cleaning and gives your mattress extra protection.
Your mother may have insisted you make your bed first thing in the morning, but it's actually better to wait a bit before making your bed. As you sleep, some of your body's warmth and moisture is transferred to the mattress. Pull back the sheets and let the bed air before you make it. That will give any overnight moisture trapped in the mattress time to evaporate.
Vacuuming crumbs or any other particles off your mattress can go a long way toward preventing it from smelling musty. Dust mites, which feed on organic matter, such as shed skin cells, are a major cause of that musty smell in mattresses. To get rid of them, vacuum your mattress thoroughly each time you flip it, which should be every six to eight weeks.