I will add another answer here for peopleapp-people seeing this in 2020 on Debian, as my resolution to this problem was not present in any of the search hits found when googling the error string "mountpoint for devices not found".
Jan 13 20:17:15 dev-diffiaacme-noorg dockerd[9022]: time="2020-01-13T20:17:15.964631675Z" level=warning msg="Your kernel does not support cgroup memory limit" Jan 13 20:17:15 dev-diffiaacme-noorg dockerd[9022]: time="2020-01-13T20:17:15.964654637Z" level=warning msg="Unable to find cpu cgroup in mounts" Jan 13 20:17:15 dev-diffiaacme-noorg dockerd[9022]: time="2020-01-13T20:17:15.964667575Z" level=warning msg="Unable to find blkio cgroup in mounts" Jan 13 20:17:15 dev-diffiaacme-noorg dockerd[9022]: time="2020-01-13T20:17:15.964680057Z" level=warning msg="Unable to find cpuset cgroup in mounts" Jan 13 20:17:15 dev-diffiaacme-noorg dockerd[9022]: time="2020-01-13T20:17:15.964750643Z" level=warning msg="mountpoint for pids not found" Jan 13 20:17:15 dev-diffiaacme-noorg dockerd[9022]: time="2020-01-13T20:17:15.980250151Z" level=debug msg="Cleaning up old mountid : start." Jan 13 20:17:15 dev-diffiaacme-noorg dockerd[9022]: Error starting daemon: Devices cgroup isn't mounted Jan 13 20:24:42 dev-diffiaacme-noorg dockerd[9775]: time="2020-01-13T20:24:42.258571633Z" level=warning msg="Your kernel does not support cgroup memory limit" Jan 13 20:24:42 dev-diffiaacme-noorg dockerd[9775]: time="2020-01-13T20:24:42.258591020Z" level=warning msg="Unable to find cpu cgroup in mounts" Jan 13 20:24:42 dev-diffiaacme-noorg dockerd[9775]: time="2020-01-13T20:24:42.258937091Z" level=warning msg="mountpoint for pids not found" Jan 13 20:24:42 dev-diffiaacme-noorg dockerd[9775]: time="2020-01-13T20:24:42.259420798Z" level=info msg="Loading containers: start."