As others have said repeatedly, the problem is less that Trump insulted the current state of Haiti and many other nations. It's that he views those people as undesirables because of the poverty in which they live.
Trump views anyone not rich as unimportant, but in terms of immigration, they ARE undesirables, not because of the poverty in which they live, but because of the likelihood that the majority, once in America or Canada, will wind up social welfare systems for quite some time, or at best take very low paying jobs for unskilled labour which, under our progressive tax system, do not wind up actually paying any taxes.
And, I might add, many of those low-skilled jobs are going to be disappearing over the coming decade, which leaves them doing what?
Immigration is not a world social welfare scheme to better the lives of foreigners. It's supposed to be only about improving life for the people HERE by bringing in really good, high quality (skilled and technologically capable) immigrants who will get good jobs and pay taxes.