Certainly. Doing "what you want” can’t be aggression, threatening aggression, or fraud and be libertarian. Put another way, doing "what you want" can't alter or acquire another persons property without invitation.
He's deviated from libertarian principle in ways beyond opposing the idea "you can do whatever you want". Also, his father calls himself a libertarian and isn't perceived as a libertine.
Gary Johnson isn't a libertarian.
They certainly don't have some moral high ground, but Trump's response in the interview from just a political standpoint, was stupid. Some in this forum seem to have a need to believe he can't do/say politically stupid things.
He doesn't recognize US intervention in the Middle East for causing either that or blowback in the West, and his solutions are more intervention (even if Hillary's are at least as bad)
His favorite General who spoke at the Republican Convention, who's book Trump "highly recommends" above, says the following in that book: