you ripped them? ripping is putting it from one media form (ie. CD, Vinyl, DVD, etc.) and putting it on your computer, and burning is putting them from your computer onto another form of media...CD DVD Vinyl. If the work is your own then no it isn't piracy. however, supplying media that someone else has produced is indeed piracy, like it or not.

edit: of course it's legal to import music from your own collection. It's giving that collection (from your computer) to someone else that's illegal.