it's their responsibility to ensure that the child's development is at the appropriate level.
It's their job to provide the environment that enables the child to develop to the level that is appropriate to them. It isn't their job to decide to reduce that a parent cannot carry their own child or say goodbye in the way that works for them.
Forcing independence is unhelpful, unnecessary and usually about the practitioner feeling the need to be in control.
Supporting and enabling independence is crucial, very different from forcing it and what decent early years practitioners do.
Children are programmed to make progress towards independence all by themselves. The more secure they feel that the support and affection is freely available, the more easily they move away from it when that is developmentally appropriate for them.
I would never presume to tell a parent not to carry their three year old. I would, however, be ready to take that child from the parent crouched down to their level, offering support and distraction to help them both if the child was reluctant.
Holding him back to force you to walk in without him so he has to run to you crying is unkind, unnecessary and likely to make it hard for him to settle, not easier.
Next time just say cheerfully what you intend to do, e.g. "I'll carry DS in as usual and I'll hand him over to you on the floor when you're ready to take him."