You really think Madoc loved Jude and Taryn? They didn't seem to.
The girls were wary of Madoc, and for good reason. I think Jude knows that Madoc loves them, but she also doesn't think that his love would protect them if he decided they were in the way. As for Taryn...I don't know man...maybe? She probably has a similar understanding of Madoc. It's not as if he makes a great big secret of caring for them. Even Oriana points out how he dotes on the girls. Jude loves him, and I don't think she would have gotten to that point if he didn't show her love, too. We don't hear Taryn say it, but it's not going too far out on a limb to say she loves Madoc, too.
The thing is they thought Madoc's patience with them had an extremely short limit, but I don't think that's true. Vivi outright disrespects him to his face and does whatever she feels like, and I know Jude thinks its because she's the only one of them who is related to Madoc by blood, but she's not great at reading people. Look all the things she got away with, after all. Okay, yeah, Madoc ended up stabbing her, but you also have to remember he's a Fae with a finely honed instinct for battle. Him treating her as an equal on the battle field was a show of high respect, and doesn't necessarily mean he didn't love her. Later he goes on to try to give her legitimate guidance for acting as the sole ruler of Elfhame. He also never intended for Jude to be bound to the Jorel and Nore, and if they had succeeded with their scheme, I think he would have sworn violent and bloody vengeance on them. Madoc is for all intents and purposes, an actual, natural born, boogieman-story monster. Of course his version of love is going to look crazy.
Madoc loved the girls, but his mistake was not understanding their vulnerability. If he had acknowledged the fact that the twins, in particular, were in danger despite him claiming them as his own, and acted accordingly, they probably would have made much different choices. He didn't protect them as well as he should have, but that was more an issue of him not recognizing the subtler dangers the girls were facing than him not caring. That's why I will never hear anyone who says that Oriana didn't care about the girls. She may not have loved them like a mother, but that doesn't mean she didn't love them in her own way. I will die on the hill that she did her best to look out for them, although it's clear her authority over them was very limited.