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I have no problem correcting a child with words, especially if their parents aren't around.

In that scenario I would have said something but like others I agree, that's not really discipline.

The only other kids I feel comfortable disciplining are my nieces and nephews. I don't even feel comfortable disciplining DH's nieces!

I think you were within your right as an adult, not really disciplining, more reminding them to be careful. I will discipline my nieces if my sisters aren't around, but I don't interfer with my friend's parenting unless it will affect my own child.

What you said is definitely fine.

To me what you did is not disciplining. You gave a child direction.

I don't think reminding other kids to be careful, or asking them to please do something, really counts as "disciplining" them, and I wouldn't hesitate to do something like that.
When I think of "disciplining" other kids, I think more of enforcing consequences for actions. We have a couple of friends with whom we have an explicit reciprocal disciplining kind of arrangements- i.e., we will enforce time outs or other measures with their kid just like we would for our own, and vice versa. DH and I are actually totally fine with any of our close friends "disciplining" LO- they've all seen us doing the "I'm going to count to 3" thing and time-outs and such, and we have no problem with them doing that. I want LO to learn that he needs to listen to our friends and follow their directions just like he would for us.
THere's also a lot of shared child-watching and babysitting in our group of friends, and I think you can't expect people to watch your child if they don't also have permission to institute disciplinary measures that you're both ok with.

My grandmother has custody of a 5 year old. Her idea of discipline is "Stop that" "Don't do that" "Go sit in the chair and don't move" and when he gets up just to defy her she ignores it. I struggle with knowing if I should discipline him or not. Especially when we are out in public he runs wild.

I think you handled the situation well, and don't see that as discipline. I wouldn't hesitate to do the same thing as well, and have done that at indoor playgrounds when the parent is not around (or on her phone not paying attention).

I don't think you disciplined them, you just reminded them to play safely.
I agree with @Lozza:, and we do the same with our group of friends. If your kids are being watched by others, they can correct them (like @artbee: did), but also discipline them (time outs, take away mis-used toys, etc). Even if the parents are around, if the child is misbehaving toward another adult, that adult addresses it right off the bat if the parents don't catch it right away.