No you're right - he definitely said we should have had Kemp for a TD. He just also pointed out that the receiver Haarberg chose was open too, and all he had to do was make a decent throw.
From one of the press conferences, he's being taught that if they get a man look on that play Fidone is the first read. Seems like Haarberg is at the stage where he can read man/zone and pick the correct route or route combination, but the additional reads like whether that safety actually stays over top in the middle are still beyond him. But I do think there's an aspect here where the coaches are trying to simplify the reads (man = Fidone, zone = read the safety) too much. A QB should be able to account for where the safety goes after the initial man/zone read, but the impression I got from the comments was he is not being asked to do that. If it's because they've tried in practice and he can't do it, that's on him. If it's because Satt just doesn't think he could do it so doesn't teach it, that's on Satt.