A lot of people think Zelda is an RPG when its an action adventure game. The only Zelda game that was an RPG was Zelda 2: The adventure of Link. Just because its a fantasy game and you go on a quest doesn't make it an RPG. After all missions are the same as quest, we use the word mission instead of quests in games that take place in the modern age.
Mission-a group or committee of persons sent to a foreign country to conduct negotiations, establish relations, provide scientific and technical assistance, or the like.(Modern day quest)
Quest-a search or pursuit made in order to find or obtain something: a quest for uranium mines; a quest for knowledge.(olden time mission)
MW1 can be an RPG because you go on missions to stop people from starting a war. While in Zelda you go on a quest to stop Ganondorf from destroying Hyrule. Both are action games but Zelda is an Action adventure and MW1 is an Action FPS. If you call all adventure game RPGs than Uncharated is an RPG.
In order for a game to be an RPG it need a levels system and you create a team or character to use any way you want to, to use in the game,=(Pokemon is the prime example what makes an RPG). If Zelda was an RPG you would be able to level up and get skill points to make your self stronger. But you only get new weapons to use.