Actually "missed" in the past tense is proper in this sentence because he is asking if we revised our feelings on a past event. We don't "miss" him in the present tense because he is here right now.
Well, "did you miss me", or "do you miss me", or "have you missed me" would all work, but not what was posted.
Besides, we'll never miss him anyway, because "he" is a she, albeit an ass-kicking she.
