You know, as much as I'd hate to say it, because I do love seeing "friendly wildlife", you probably should have taken him out. Regardless of size, I'm always wary of animals that aren't approprately afraid of humans. This definitely seems like the type of coon that will feel right at home coming through someone's doggie door looking for food, or into their garage, etc etc.
I hate to say it, but that's just how it runs. Like Kanati said, even though it was friendly to you, if someone's little girl was playing in the back yard and that coon approached it, God forbid she'd get bitten.
Other than that regrettable wet blanket, REALLY COOL! Being a coon hunter myself (Treeing Walker Hounds baby!), I've had several rough times in the creek where I wish it would be that easy!!!