Exactly. The whole promise of Russia being worried about invasiom by the same NATO that was unwilling even to defend Ukraine is a myth. It's a piece of Russian propaganda designed to excuse imperialistic designs on rebuilding the Soviet union. Russia wants to maintain the ability to threaten and bully Ukraine into acting as a puppet state. The moment Ukraine gets security guarantees from Western countries, Russia loses that ability. That's why Russia opposes Ukraine being allowed to enter into bilateral or multilateral security guarantees with any of the individual members of NATO.
And I don't think Zelensky will ever be willing to give that up. Nor should he.