They are actually "no human in the loop" driverless most of the time.

If an airplane did not have a human inside the airplane and they only "dialed in" for extraordinary events, then yes I do think we'd call them pilotless.

Anyway Waymo, to my knowledge, doesn't use the terms "driverless" nor "autopilot." They claim that they are creating an artificial driver or that their cars are autonomous. There's something driving the car, it's just not a human driver, ergo it's not "driverless."