While I dislike the term "fake news" this is a typical example of a lefty mainstream source distorting what Trump said to make him look bad and then declining to link to the original source so as to make it hard to catch them out.
It's hard to be charitable to that comment: it's just pollution. Here's a full transcript of the linked video:
Reporter: Can you assure the world that as you try to get control of these areas you are not going to use military or economic coercion?
Trump: No. I can't assure you - you're talking about Panama and Greenland - no, I can't assure you on either of those two, but I can say this: we need them for economic security. The Panama Canal was built for our military. I'm not going to commit to that. It might be that you'll have to do something. Look, the Panama Canal is vital to our country. It's being operated by China. China! And we gave the Panama Canal to Panama, we didn't give it to China, and they've abused it. They've abused that gift. It should have never been made, by the way.
[jump cut]
Reporter: Mr President, back on Greenland. Your position is clear, but have you directed your staff to take a specific action to draw plans, and can you elaborate again. You didn't rule out military coercion and -
Trump: Well, we need Greenland for national security purposes. I've been told that for a long time - long before I even ran - people have been talking about it for a long time. You have approximately 45,000 people there. People really don't even know if Denmark has any legal right to it. But if they do, they should give it up, because we need it for national security; that's for the free world. I'm talking about protecting the free world. You look at - you don't even need binoculars - you look outside, you have China ships all over the place. Your have Russian ships all over the place. We're not letting that happen. And if Denmark wants to get to a conclusion - but nobody knows if they even have any right, title, or interest - the people are probably going to vote for independence or to come into the United States - but if they did do that, then I would tariff Denmark at a very high level.
Reporter: Did you ask your staff to draw plans for acquisition? Are you actively pursuing it?
Trump: No, we're not at that stage, but we have people - I haven't even entered office yet.
Thankyou for linking to a primary source that confirms what the linked article from The Guardian states; Trump did indeed point blank refuse to rule out US military involvement in the control of Greenland and the Panama Canal.
Here's what he actually said https://youtu.be/K0EaHawPM2g
As an aside I think the whole strategy is past its best by date. People are wise to it and still elected Trump despite the best efforts.