Just watch the segment. He's asked 3 times if he condemns the phrase which many consider to be a call to violence and 3 times he levies condemnation toward the sentiment. While he doesn't say "yes, I condemn 'globalize the intifada,'" he said it's not appropriate to police speech, he'll lead by example, he's listening to the people of NY when drafting policies such as his significant increase in funding for anti-hate crime funding, and that his policies and the language he uses need to reflect respect for all people.
I'd argue his actual response is a much more appropriate condemnation than just saying "yes" and moving on.
Can we strip people with, say, 34 felonies of their citizenship and deport them to an arbitrary country?