I really don't think the hotel thing was bad at all, since they were planning for him to sleep in the barn. I mean it's not like they had any friends who might take him in who had a bed, TV, food, heating/air conditioning, ect. You know, except the Kings.
Seriously, they didn't even need to tell David the Kings were androids. Just say that they were friends, and that they'd let him crash in a guest room. I wonder how different things would have been if they hadn't had an extremely important mission to handle at the same time.