The author really does mean memorize. To engage with pure mathematics, you
must know the definitions, since the definitions are the bedrock of the subject. If you don't know the axioms of a topology, how can you check for yourself whether something forms a topological space? Or without knowing the exact definition of continuous, how can you know whether a proof of continuity is correct? Without knowing the definitions, you can't really
know mathematics.
To be clear, this does not mean memorizing all the theorems. Getting to know the theorems (and solving problems) is what helps you internalize the subject. Math is the art of what's certain, and knowing exactly what the objects of the subject are is necessary for that. Theorems are derived from the definitions, but definitions can't be derived.
In my experience with a math (undergrad and PhD), I realized I had to know definitions to feel competent at all. In my teaching, it's hard to convince students to actually memorize any definitions — so many times students carry around misconceptions (like that "linearly independent" just means that no vector is a scale multiple of any other vector), but if they just had it memorized, they might realize that the misconception doesn't hold up. Math is weird in that the definitions are actually the exact truth (by definition! tautologically so), so it does take some time to get used to the fact that they're essential.