Is this bad technique?

[jakusx]

Okay, here is how you fix that...
You need to firmly place your thumb up against the first knuckle of your curled index finger.
Then, cram a pick in there real tight.
Strum appropriately.

Okay, joking aside, when I learned bass (I learned bass before guitar), I played with a pick first to get my left hand up to speed without having to think about the right. I kind of wish I didn't, I'm not strong with finger style - I just feel sloppy with them. Luckily I play a lot of pick friendly tunes.

[Scot]

Your approach of resting your RH 3rd & 4th fingers on the E and A strings is one I've also adopted and, as already noted, is used by John Patitucci. It's a great approach for muting those lower strings when playing on the higher strings.

As already said, it looks like you need to lighten up your touch just a tad, which will likely come naturally as you progress. Something to help you with this is to crank up your practice amp and play some of your normal practice exercises, basslines, etc. at an exaggeratedly low dynamic level. Then play the same things exaggerating the other extreme. Then try to go from one to another. Play along with a metronome when doing this. Notice how you feel certain things when you change the dynamic levels with your hands. You may notice a tenancy to tense up when playing louder. Try to vary the tempo on the 'nome and play the same exercises and pay attention to how relaxed your right hand is.