Yes, he probably got the idea that you were going to tip him -

...but he had zero right to do anything that he did after you go off the bus, including going after you, speaking rudely, asking for a tip, and of course, swearing at you.

I'm normally the kind of person who is reticent to complain about someone if I think it could actually threaten his livelihood. This case is so over the edge, however, that I would take others' advice about how to complain.

I don't know the Hertz system the way others clearly do, but FWIW, my usual method is to try and reach companies' regional or district managers. I figure that they're most concerned that it not go higher, yet also less likely to have a personal relationship with the employee (and thus less likely to pull punches) than a local manager might.