Saying "Germany needs to look after it's energy independence" is synonym with "the west cant trust Russia", and saying "I'm taking the USA out of NATO" is synonym with "the west can trust Russia".
So he just claimed two opposite views and his fan it's pick and choose.
Trump was all over the place so it's hard to know what his exact positions were but he definitely bitched about European countries for not maintaining the NATO spending goal of 2 percent of economic output [0] which seemed to be his main gripe with NATO from what I remember.
One quote from the article: "Mr. Trump appeared especially annoyed, officials in the meeting said, with Chancellor Angela Merkel of Germany and her country’s military spending of 1 percent of its gross domestic product."
[0]: https://www.nytimes.com/2019/01/14/us/politics/nato-presiden...
I'm very much not a Trump fan, but no, I do not agree with your interpretation of the threat to take the US out of NATO.
Small minded.
The purpose of NATO is to serve as a force multiplier. It's not that Europe benefits at the cost of the USA. Both benefit.
(Yes, you could consider having other countries coming to your defense to be multiplying your force. But if they don't have much of a force of their own, how much "multiplying" are they doing?)