President Rodrigo Duterte also wants to halt the 28 military exercises that are carried out with USA forces each year, Lorenzana said.
Lorenzana also said that the roughly 100 US service members in the southern part of the country assisting in the operation of surveillance drones against Islamic extremists would be asked to leave when the Philippines has the necessary intelligence-gathering capabilities.
U.S. Embassy officials said Washington has not been formally notified by the Philippine government of any move to scrap other planned drills.
Recently, Duterte has apparently shifted his support to China instead of the USA through a shifting PH foreign policy. Asked about the president's statement last week that he wants to end all military exercises with USA forces, Mr. Lorenzana said his department was still awaiting an official directive.
"As long as I am there, do not treat us like a doormat because you will be sorry for it".
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Duterte said it was not until he became President that he saw the "widespread" danger of illegal drugs.
"The president said that he doesn't want them to leave immediately but maybe in the near future", Lorenzana said. "If you think it is high time for you guys to withdraw your assistance, go ahead, we will not beg for it".
He had said he believed Mr Duterte's objective was to diversify the Philippines' foreign ties and cut dependency on former colonial ruler the US. "Do not worry. But we will never compromise our dignity as a Filipino", the President said.
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According to U.S. data, the Philippines is expected to receive a total of $188 million in 2017 while the country received $236 million in U.S. aid in 2015.
But experts fear Mr Duterte's plans to limit United States military presence will foil Washington's intention to strengthen USA forces in Southeast Asia in order to counter China. "Our Congress is actually giving us money now for the procurement of equipment", he said at a press conference. "I will not allow a single policeman doing his duty go into prison", he said.
"We are expecting a lot of help from them and any incident that could strain relations is worrisome". He also described Washington as an unreliable ally, saying Filipino forces have not benefited from joint combat exercises with us troops.
Lorenzana's show of accord with Duterte's anti-US stand follows a similar tough line from Foreign Affairs Secretary Perfecto Yasay who said this week Duterte wanted to liberate the country from a "shackling dependency" on the United States.
According to US State Department spokesman John Kirby, the total US assistance to the Philippines in the fiscal year that began on October 1 was $180 million.
"Worse is that our only ally could not give us the assurance that in taking a hard line towards the enforcement of our sovereignty rights under global law, it will promptly come to our defense under our existing military treaty and agreements", Yasay added.
On Monday, Duterte said US President Barack Obama should "go to hell" and hinted he might "break up" with the United States.
With the turquoise backdrop of the South China Sea, U.S. Marines and allied Filipino combat forces barged ashore Friday on amphibious vessels in a mock assault on a Philippine beach in San Antonio town in northwestern Zambales province.