No, I’ll quote someone from reddit who was at the gig:
Using the word “target” makes it sound like parents of dead babies were the butt of his joke. They weren’t. The joke was about hes own admission that he would find looking after a new born baby difficult and that it would ultimately result in the baby dying. True it was a dark subject but as he said himself joking about a subject is different from mocking it. It wasnt like he said, “parents of dead babies, sucked in you must be bad at being a parent”.
For me personally, it was one of the few funny bits in an otherwise fairly mediocre show.
So he was making fun of his own inability to look after a child? Seems quite tame, but his response has been a bit mental.