It should when it's required by the NHTSA and comes along with mandatory reporting, notification, and deadline obligations, along with optional free on-site execution of the fix.
That's what makes it a recall. A software update is the mechanism, the recall is the "Tesla did something wrong and is being held accountable" part.
I meant the title of the article probably should have used the term "update". To someone like me who doesn't know anything about vehicles, I was totally confused to see Tesla "recalling" vehicles over software.