Is Bilbo a Burglar?

I guess it depends. The word "burglar" somehow doesn't fit in "The Hobbit". Let us assume that Bilbo is, more or less, a sympathetic character. He is the underdog-hero of the novel. So when Bilbo saves his group by stealing the keys of the drunken jailer, unlocking the cells of the dwarves.... Is he a burglar or simply carrying out his quest against evil? I think he is just doing what Bilbo Baggins is supposed to do.