You can enter how ever you want. The AIM only suggests 2 preferred methods for entering the pattern at a non-towered airport, the 45 and mid-field direct.
I see people entering the pattern in all kinds of different ways, many of them nothing like what the AIM describes. Crosswind entry is just one more way to do it that is not described in the AIM.
If you're doing it and you're sure you're not conflicting with other traffic good for you. But, if you make the same kind of entry, only somewhere over the runway, you could call it a mid-field direct and it'd be very much like what is described in the AIM. To each his own I guess.
Here's the scenario that popped up in my head. I frequently make the trip from my home drome to the east to C29, with the direct path seen in blue below:

I call Madison Approach about 25nm east of MSN. They run operations either North (36, 3, 32) or South (18, 21, 14) at MSN. The way ATC works there, Tower is allowed to just send out departures without notice to the TRACON in whichever of those two directions, with IFR departures going up to 5000 in the middle third (for which the TRACON should already have a strip and be aware) and VFR departures in the outer two thirds, for which the TRACON needs to protect the airspace.
If they're operating to the North, it's not as big a deal - They may just have to keep me out of the way of traffic. If they're operating to the South, they have to be ready for things to pop up off MSN with zero notice up to 3,000 feet. So, they'll frequently restrict me to "maintain at or above 3500" until I'm far enough past MSN that they don't have any concerns about anyone coming up under me, generally when I'm over Lake Mendota.
More often than not, the winds are going to be westerly and C29 is going to be landing runway 28, usually with a few Cessnas in the pattern. There's no way I'm landing 28 on a straight in if ATC just dropped me 3-5 miles from the field at 3500 feet... And when I crank in enough of a descent just to get down to TPA, I'm screaming into the pattern at 180 knots or so anyway. But ye olde teardrop isn't a good pattern entry from that angle either, it's lots of random maneuvering in an area likely to have other planes randomly maneuvering; the big towers to the south also limit where you can go should a conflict develop. So, I enter "on the upwind", parallel to runway 28, offset just far enough that I can see any traffic on final, on the runway, or on the departure leg, then turn crosswind and downwind while waiting for speed to drop, and from there drop the gear and continue the pattern as normal.
And that is the safest method to enter the pattern in that scenario, IMO. Nothing wrong or unsafe or not "ok" about it.
I wonder if they’re just wanting to not imply that flying parallel to the runway on the upwind side then entering the pattern on the crosswind is ok, which is what I think some pilots thought the old graphic depicted.