That's how Putin claims to perceive it, but that's also what he would claim if his actual goal was to control his neighbours by force. And don't forget Finland and Sweden responded to the invasion of Ukraine by joining NATO. If Russia perceived NATO as a threat, then Finland joining would make them more likely to be attacked. Clearly Finland feels NATO is making them safer or they wouldn't have joined. And since then, Russia has moved tons of their military away from NATO borders and into Ukraine.

In other words, I trust the actions of Finland and Russia more than I trust the words of Russia.