Yes, Joe Biden should have urged Russian Prime Minister Dmitry Medevev to remove Russian troops from the Crimea, because Russia is trying to flex their muscles. Until Biden pulls a Reagan and tells Russia what they can't get away with, Russia will continue to threaten Ukraine and other countries in the East.
Vice President Joe Biden is right in every way to want to press the Russian Prime Minister Dmitry Medvedev to remove Russian troops from the Crimea region. The Russian invasion of this area was unlawful at best, and at worst a blatant provocation for further war with other countries in the area.
Any and all American officials should be urging any and all Russian officials to get their troops out of the Crimea. That being said, it is unlikely that telling Medvedev to do something will be productive. Putin is running a virtual dictatorship in Russia, and he will not back down until it becomes clear to him that the cost of taking Crimea (and possibly all of Ukraine) is higher than the benefit to be gained.
I do not believe Joe Biden should have urged the Russian Prime Minister Dmitry Medvedev to remove Russian troops from the Crimea. Doing so demonstrates are misunderstanding of the situation. Russia has been clear that they will not view restrictions in a light manner. They are protecting what is important to their country and the United States should back up and let them move forward.