I don't want to play tit-for-tat but it's "in Ukraine" just like Guantanamo Bay is "in Cuba". So it's complicated and not explained with a naive "I just wanted to sail my warship through, gee why do u bully ME?"
Crimea de facto belongs to Russia now and that isn't going to change to no matter how many warships cruise past it.
Realistically it's difficult to imagine any scenario where Crimea ends up belonging to Ukraine again.
Now that Biden has waived the sanctions against the Nordstream 2 project, Ukraine will lose it's strategic importance as a gas transit country. At the same time Russia's importance as an energy supplier to Europe will increase. It won't be much longer before no one cares about Ukraine or Crimea anymore.
I’ll leave the semantic arguments to the Latin majors. Russia may see some legitimacy to its claim to Crimean territory, but it’s a self-asserted claim and it should be treated with as much respect as any other self-asserted claim.