The bad kid

Today's story time at the library was a disaster. Robert did not want to sit and listen. He was rude and uncooperative. I was embarrassed.
Something very similar happened when he started swim lessons a few months ago. I was mortified that he was so obnoxious and uncooperative in swim class.
Robert wants to do what he wants to do He hates structure. Does that make me a bad mom? Why does he do this? I know, he is 3. But seriously, I have worked with a lot of kids, and Robert exhibits every sign of 'the bad kid.' Where did I go wrong?
I seriously hope this is something he outgrows.