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Between missions, you are looking at a world map and can choose missions, level up, utilize the blacksmith, etc.
But anyway, the fact that the game is mission based (similar to action games, with Team Ninja being action game devs) should clue you in on how the game was meant to be interpreted.
At the end of the road you can walk everywhere you want. Just because it's not 2432423423432 miles doesn't mean it's not open world. Open world isn't really dictated by size.
"In video games, an open world is a game mechanic of using a virtual world that the player can explore and approach objectives freely, as opposed to a world with more linear and structured gameplay."
Because those tags are from the playerbase, that being said you quite literally described Dark Souls.