$K$ can be an improper subset in the definition. An open set obviously forms an open cover of itself, and is obviously a finite cover; but a set $K$ is compact if [and only if] every open cover has a finite subcover (as you yourself wrote, as per Definition 2.32 in Baby Rudin).
You'll find soon enough (if you have not already encountered this) that the definition of compactness you discuss above is the "foundational" definition of compactness used in Rudin. You'll see that chapter 2 proceeds to show that there are ways (using Theorems introduced and proven) to establish that a set is compact if it is, for example, (i) a closed subset of a compact space, or (ii) if it is in $\mathbb{R}^n$ and is closed and bounded ... etc.
I think the main confusion here is with the notation Rudin uses to denote "is a subset of."
Usually, authors (like Richardson) use $\subseteq$ to denote subset or set inclusion in general (meaning "is a proper subset of or is equal to") and they use $\subset$ exclusively to denote "is a (strictly) proper subset of".
Other authors, like Rudin, simply use $\subset$ to denote the inclusion relation: "is a subset of or is equal to". Some, but not Rudin in PMA, use the symbol "$\subsetneq$" to denote the exclusion of set equality (i.e., to denote a proper subset). See the "List of Special Symbols" which immediately precedes the "Index" in Baby Rudin: Rudin makes no mention of, nor any use of, the symbol $\subseteq$ nor of the symbol $\subsetneq$ in his text.
So to specify "$A$ is a proper subset of $B$", Rudin will specify in some sense, that he is referring to a "proper subset" or otherwise omit the prospect of set equality, e.g. "$A\subset B$ AND $A \neq B$"). That is, unless Rudin states otherwise, assume $A\subset B$ means $A\subseteq B$ when reading the text.