R exact selection based on %in%

One dplyr possibility could be:

df %>%
 group_by(id) %>%
 mutate(tag = all(c(-1, -2, -3, -4) %in% time) * 1)

      id  time   tag
   <int> <int> <dbl>
 1     1    -4     1
 2     1    -3     1
 3     1    -2     1
 4     1    -1     1
 5     2    -1     0
 6     2    -2     0
 7     3    -1     0
 8     3    -3     0
 9     4    -1     1
10     4    -2     1
11     4    -3     1
12     4    -4     1

And the same with base R could be:

with(df, ave(time, id, FUN = function(x) all(c(-1, -2, -3, -4) %in% x) * 1))