With contactless food delivery, is leaving the tip taped to the door rude?

We did contactless food delivery and left a note on our order saying “the tip will be taped to the door (:” and I got a message from the driver saying “taped to the door, really”. I thought that was completely fine and now I feel like an asshole.

(They haven’t came yet but it was $13 in an envelope between my screen door and front door.)

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