This castle is for a small local Lord that would have been subservient to the King of France. So it wasn't in their own kingdom and never intended to be one. In the 13 century Kings gave their military leaders (ie lords/knights - a lord would always be a knight) and that they were intended to protect from bandits. Those Lords then used the castle and their position to collect taxes (though generally not called that). Some of those taxes would go to the king, but most went to support the lord, his army (about 10 guards), build the castle. When the king went to war the lord was expected to turn the peasant men into foot soldiers and then go with the king.
Though if you succeed in building a castle in someone else's kingdom that means it is no longer their kingdom - either it is now your kingdom, or(much more likely) it is part of the kingdom of whatever king you are under. When kings win battles they reward the best of their un-landed supporters with some of the taken over land, those people then become lords and are expected to build a castle (or take over an existing one if it wasn't too destroyed and culture allowed it) on their new land as part of their efforts to hold it for their king.