Not really, he let the audience say it. If the woman hadn't said it, he wouldn't have called Cruz a pussy. He has every right to call Cruz a pussy or whatever non hate-speech term he likes. Whether you agree w/ his stance on torture or not has zero to do w/ it being perfectly fine to use the word. Don't see the reason to recoil in hushed whisper and say "omg, he said a swear." He's an adult, he says lots of them.
What people like most about him is he says in public what he would say in private, and that applies to very small percentage of public figures.