Yeah, it's certainly better to make your pet as little dependent on you as possible. The less he is dependent, the more is his independence.

But as in your case, you inadvertently ended up with a pet though it was not intended in the beginning. This happens because of our society's established pet-culture and absence of safe and proper rehabilitation centers or sanctuaries around us, where we can leave them after rescuing. So nothing to be felt guilty of. But we need to take steps in changing this mindset and creating a better system to rehabilitate such animals.

Once an animal is accustomed as a pet, it's not easy to make him / her survive the way Nature intended to. So presently, it's in best mutual interest to take care of your pet. But I'm against domesticating any new pet.