Sticking my neck out here and playing devils advocate.
He inquired on Thursday, thought he had an arrangement for a quotation and you back step on Sunday over 3 days later ?
His negative feedback isn't exactly a scathing one, he's just stated the facts from his point of view. Had you have contacted him sooner he may not have felt the way he did and could have called another cleaner on the Thursday.
Put it down to experience, reply and apologise in a polite manner and update the areas you work ( perhaps a map screen shot with the perimeter of your area highlighted ?) I very much doubt he will enter in to an argument, he probably moved on from it 10 mins after he posted.