Your rule is correct for most titles, particularly for nobility and army titles. For example "La baronne Pierron habite à Roanne" or "Le général Pierron habite à Roanne."
The exception is for Monseigneur, you would say "Monseigneur Pierron habite à Roanne."
For academic based titles, this rule is mainly followed, for example or "Le docteur Pierron habite à Roanne" or "Le professeur Pierron habite à Roanne."
The exception is for Maître, you would say "Maître Pierron habite à Roanne."
For the basic civility like Monsieur or Madame (and Mademoiselle), you do not use articles.
The exception is with Veuf/veuve, you would say "La veuve Pierron habite à Roanne." But I doubt you will ever have the opportunity to use this one.
Also, do whatever you need to get good marks for your exercises but in real life, be extremely careful about using Mademoiselle.
In the past, the distinction was that an unmarried woman was Mademoiselle and a married woman was Madame. But following this rule today would be very clumsy and even insulting sometimes (perceived as patronizing).
Today, an adult woman is Madame and a little girl is Mademoiselle.
For foreign titles, it depends on where they come from. English titles do not take articles (Lord Pierron habite à Roanne) but Arabic titles do (Le sheik Pierron habite à Roanne).