Is it legal for a propane company to deliver propane without my consent?

My propane company (Suburban Propane of Tampa, FL) called a few weeks ago with a "reminder" to fill up our tank. We don't use it very often, so we told them no. Then 2-3 weeks ago, they put a "reminder" on my door. However, Today, they came to my house when I was not there and charged me $135 to fill 4.7 gallons in my 100 gallon propane tank. I didn't need it. I didn't ask for it. What right to do they have to charge me 20-30 for such a small amount of propane and then charge me $100 for delivery when I didn't ask? Is it legal in Florida? Do I have to pay? What recourse do I have? I hate to sue over such a small amount but that is incredibly wrong! What do I do?