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If you build for compute-capability 5.3 then the resulting device code will not run on your 5.0 device. Additionally as far as I am aware the CUDA DNN backend is not supported on devices of compute-capability less than 5.3 (even in OpenCV 4.3.0 which will compile for these devices without the "CUDA backend for DNN module requires CC 5.3...." error).
If you want to access to all the CUDA functions except the DNN backend then I would disable it by passing
-DOPENCV_DNN_CUDA=OFF
and compile for your arch
-DCUDA_ARCH_BIN=5.0 -DCUDA_ARCH_PTX=5.0
Alternatively upgrade to OpenCV 4.3.0 which will allow you to compile for "all" compute-capabilities, meaning that you could use the CUDA DNN module on newer cards with the same binary if you wanted.