Former New York City Mayor Rudy Giuliani (R) says comments he made Monday about terrorists failing to strike the United States in the eight years before President Obama took office were misinterpreted.

"I'm not there to give a major 45-minute policy address," he told the New York Daily News on Tuesday, referencing his introduction ahead of a speech by Republican presidential nominee Donald Trump on foreign policy.

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"You speak in somewhat abbreviated language," Giuliani said. "All human beings speak in abbreviated language at times.

"I didn't forget 9/11. I hardly would. I almost died in it."

Giuliani, who was the mayor of New York City during the Sept. 11, 2001, terrorist attacks, was mocked for the comments he made Monday when commending Trump's running mate, Indiana Gov. Mike Pence Michael (Mike) Richard PenceMcConnell locks down key GOP votes in Supreme Court fight Momentum growing among Republicans for Supreme Court vote before Election Day Sunday shows preview: Justice Ginsburg dies, sparking partisan battle over vacancy before election MORE.

"Under those eight years before Obama came along, we didn't have any successful radical Islamic terrorist attack in the United States," Giuliani said.

On Tuesday, the former New York City mayor defended his remarks, saying when someone is giving a short speech, there's no time to "give an encyclopedic explanation."

"Could I have repeated it at that point? In a way that you wouldn't be asking me this question today? Sure," he told the paper when asked if it was likely he would "find his foot in his mouth again."

"But will I again say things in the future that can be taken out of context or misinterpreted? Of course I will," Giuliani said.