MMMMMMMMMMMM, Lets see for years of me coming back and forth with family and friends over a hundred times with all of us together I’d say that we do need a visitors visa because we have had to fill them out .
You fill out a customs form and a visitors visa, that visa gets put into a passport for your stay and if you overstay your 90 days then you are in violation of immigration laws and therefore illegal
Let's see for years of me being a Customs and Border Protection Officer, daily examining hundreds of travel documents from all over the world, I'd say that you're wrong and don't know what a visa looks like.
Visas are not "filled out" by passengers, they're issued by The State Dept. What you've filled out is/was an I-94W (arrival and departure record) and is nothing like a visa in appearance, application, or issuance.
Before you go correcting people, at least familiarize yourself with the correct, official information others have posted on this very page.