This is clearly not true.It has nothing to do with taking Ukraine, it never had.
On the Historical Unity of Russians and Ukrainians
An "essay" written by Vladimir Putin clearly states his belief on the position of Ukraine.
"I am confident that true sovereignty of Ukraine is possible only in partnership with Russia. Our spiritual, human and civilizational ties formed for centuries and have their origins in the same sources, they have been hardened by common trials, achievements and victories. Our kinship has been transmitted from generation to generation. It is in the hearts and the memory of people living in modern Russia and Ukraine, in the blood ties that unite millions of our families. Together we have always been and will be many times stronger and more successful. For we are one people."