I do not go by 2 complaints and make the conclusions you have. The Coast Guard has the right. I do not pretend to know, as you do, the entire circumstance and reasoning behind this boarding at the late hour.
Coast Guard didn't harass. The guy invited them in. As the person who complained said, he could not complain of their professionalism. I can't emphasize that enough. They were not mistreated in any way.
Perhaps you should read post #152.