But Duterte suggested relations could improve under a President Donald Trump.
"I like your mouth, it's like mine, yes Mr President. We are similar and people with the same feathers flock together."
Returning his focus to the present U.S. administration which has criticised him over reports of extra-judicial killings in his campaign against drugs, he said:
"We do not need you," Duterte said in a news conference after arriving from visits to Cambodia and Singapore.
"Prepare to leave the Philippines. Prepare for the eventual repeal or abrogation of the VFA."
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The Visiting Forces Agreement (VFA), signed in 1998, accorded legal status to thousands of U.S. troops who were rotated in the country for military exercises and humanitarian assistance operations.
"Bye, bye America and work on the protocols that will eventually move you out of the Philippines," he said, adding his decision would come "any day soon" after reviewing another military deal, Enhanced Defence Cooperation Agreement.
The firebrand leader was visibly upset and vented his anger on Washington because of a decision by the Millennium Challenge Corp (MCC) board to defer vote on the re-selection of Manila for compact development due to human rights issues.
"We do not need the money. China said they will provide so many," he said.
"The politics here in Southeast Asia is changing."
