Since you’ve already renamed the directories, this is perfectly OK. (It would have saved you a manual step if you’d let Mercurial rename them for you: hg rename doc docs, etc. instead of doing it yourself then letting Mercurial know about it).
If you don’t have any other files to check in, the hg addremove is superfluous. Look in the output of hg stat and you should only see lines beginning with ‘R’ (for doc/*, test/* and util/*) and ‘A’ (for docs/*, etc.)
Finally, don’t forget to commit the changes.
EDIT: Forgot to say… use hg log --follow to track changes across the rename.