That is completely normal. If it rains or you wash the car. Water runs down the glass into the door past the belt molding that touches the glass. It then goes into the door. All of the doors have drains and drain to the outside of the vehicle. The foam piece in your picture is called a vapor barrier. If it is removed or not adhered properly more towards the bottom of the door, that is when water will actually enter the vehicle if enough gets in there.
In your case, completely normal. You are fine.
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