Mr Tusk also said that the United States did not and would not have a better ally than the EU, reminding the president that it was European troops who had fought and died in Afghanistan after the 11 September 2001 attacks on the US.
The host Olga Skabeeva opened the segment with footage of Trump and Melania getting on their Europe-bound plane together, holding hands.
"While these countries have been increasing their contributions since I took office, they must do much more", Trump added. "We pay far too much and they pay far too little".
"I would like to directly address President Trump, who has for a long time now been criticising Europe nearly daily, for, in his view, insufficient contributions to the common defence capabilities, and for living off the US".
The meeting comes ahead of Mr Trump's four-day working visit to the United Kingdom, during which he will hold talks with Mrs May at Chequers, meet the Queen in Windsor Castle and spend two days in Scotland preparing for Monday's face-to-face summit with Mr Putin in Finland. Nevertheless, traditional business models are no longer sustainable and high-quality publications, like ours, are being forced to look for new ways to keep going.
"I really can't say right now", Trump said. "As far as I'm concerned, a competitor, a competitor", he said. "I get along with her very well, have a very good relationship, that's certainly up to the people not up to me". During this scrum, Trump said that the meeting with the Russian president "may be the easiest of them all".
"We do have a lot of allies". But we can not be taken advantage of.
Along with trade policies, Trump has been demanding that North Atlantic Treaty Organisation members increase their defense spending to come into line with a 2014 commitment while complaining that Europe benefits more from the partnership than the United States. In his tweets, the POTUS has continuously stated that the USA pays too high of a price for the alliance, while our partners do not contribute enough.
"In the months ahead, we will step up our cooperation on military mobility, which is essential to our deterrence and defense".
"European allies and Canada should not increase defense spending to please the United States", Stoltenberg said.
Some NATO members have previously pushed back, saying the United States is also protecting its own interests by protecting its allies.
"We are committed to Article 5".
The NATO secretary general has told Sky News he is confident the alliance will "stand united".
Kissinger Associates political consultant Thomas Graham told Kommersant that Putin might be willing to acknowledge that nonstate actors from Russian Federation were involved in the 2016 election. She insisted on the solidarity of the 29-member alliance and denounced the "malign activities" of Russian Federation and its attempts to "divide our democratic nation".