No. They intended for the helicopter to fly the booster to shore.
Although the helicopter was meant to carry the rocket booster to shore, its pilots decided to drop it into the ocean, which they did upon noticing “different load characteristics” than those experienced during previous test flights, according to a Rocket Lab release. The pilots “did release it after hook up as they were not happy with the way [the helicopter] was flying,” Rocket Lab CEO Peter Beck wrote on Twitter. “But no big deal, the rocket splashed down safely and the ship is loading it now,” he added.
Mother Erf showed up to save the day.