Am I a bad friend?

So last night I was a party with four of my friends. I got pretty buzzed and I started talking to this guy who btw I had my eye on since I got there. After awhile I left with him to his car. Later on when we went back to the party two of my friends were waiting outside of the house where the party was at. They told me that they were so worried and why did I leave. Two of my other friends had left already. So they were pretty mad that I had left with guy and not told them anything. I didn't have my phone with me so I couldn't text them to let them know I was ok. I get that I should've not left just like that. However, I have done this two other times with two other different friends. I however always feel bad after and deeply  apologize. I still feel like I'm a bad friend. Is it wrong that I leave them to go with some guy? Please no rude comments.