Unfortunately, there are a lot of Al Qaeda type jihadists in Yemen who would very much like to kill U.S. citizens. Otherwise I'd agree with you that we shouldn't be there.
I think the point is that those jihadists in Yemen are the direct result of this sort of thing happening in their home towns. It's very easy to recruit someone when they just saw a whole bus of their friends and family being blown off by reasons they can't understand, from a robot in the sky, being controlled by someone miles away.
Taken at face value, US should go and bomb with these drones a whole lot of other people too. And no, they wouldn't be "jihadists". I'm sure there is many many people in the states that very much want to kill other U.S. citizens.