Is there a citation for the threat of invasion apart from unhinged Russian TV commentators?
For example, the most hawkish interview with Dugin (Pozner is the interviewer) is from 2014. The interview is in Russian and Dugin is clearly enraged about the Maidan events, so he is more straightforward than in English interviews.
If the English subtitles are correct, Pozner explicitly asks which countries should be part of the "Greater Russia". Dugin unambiguously excludes the Baltic states, Poland and Finland.
He wanted the eastern Ukraine, Georgia, Armenia, Kazakhstan in a Eurasian union.
So if even the hawk who is always cited as an expansionist does not want Latvia/Finland/Poland, who does?
The U.S. does military manoeuvres and close fly-by missions in the South China sea.
The people in charge in Russia grew up during the cold war and believe that NATO is a threat. It does not matter to them what people on Twitter who were born in 2000 think.
I don't think either that NATO is a threat in the case of Russia (unlike for Kosovo, Iraq, ...), but they don't care. If someone is in the business of foreign policy, he has to take the opponent's thoughts into account.
Russia's unlimited expansionism is a narrative that is supposed to obfuscate the mistakes that foreign policy has made since 2008.