That was a perfect landing.
As far as not aiming for the center. Of course it is aiming for the center. That's where you have the greatest margins. Yet, this is nothing like what Blue Origin has been doing. The comparison is simply not warranted.
Rather than go into a long explanation I'll just give you this data point:
Blue Origin is FALLING down from zero velocity. It reaches a terminal velocity of around 300 to 400 miles per hour. It uses fins to navigate down to a spot that, for all intents and purposes, is almost straight down.
Falcon 9 is FLYING down from somewhere around 17,000 miles per hour. During that time it has to flip around and use three of it's engines to slow down enough not to burn-up on re-entry. The grid fins also need to fly the rocket to a ship, in the middle of the ocean, about 600 miles from the coast...and then use a precisely timed single engine burn to land it.
Here are a couple of pictures to further illustrate the point:
Like I said. Perfect landing.
In this particular case, they were dealing with winds of something like 25MPH. Dealing with that in a vehicle this clumsy to control has to be tough.
SpaceX also aims next to the ship first, then corrects at the last moment to land on the ship. This is so they don't make a big hole in the ship if the engine fails to restart. I believe BO does this too, but BO's rocket can hover and take its time with this maneuver. The Falcon 9 first stage has too much thrust to hover, even with only one engine running at minimum throttle, so it has to do everything at once.
A perfect landing is one where you get to recover and reuse the rocket. It was perfect.
Much less than that. Closer to 4,000mph (from memory). You're thinking about 2nd stage.