He has not made that claim himself, not exactly, but it comes up on Romney threads here. Staunch Mitt supporters don’t see it as “mandatory”, but rather “market based” instead. The Heritage Foundation white paper describes the theory behind Romneycare as being market based.
Strictly speaking, both can be true; the term "market based" simply accentuates the positive, i.e., the extent to which the plan respects free-market principles, rather than the extent to which it violates those principles.