Putin was trying to make the point that NATO is fundamentally existentially anti-Russia. He knew Russia couldn't join, but by asking to join the point was made clear.
Up to 2001, the US and Russia were on good terms. After GW dropped the ABM treaty and then started NATO expansion, things went south. Russia had to respond and developed hypersonic missiles that could change direction. And by 2009 it was back to a cold war. By 2014 there was war in Eastern Ukraine with CIA involvement and the US did their coup.
If GW didn't try to do his father's Star Wars missile defense crap, none of this history would have happened and we would be having the Olympics or World Fair in Moscow.
