Robert Gates joined Fox and Friends this morning to discuss his time as defense secretary for the Bush and Obama administrations.

His new book, “Duty: Memoirs of a Secretary of War,” contains criticism of President Barack Obama, Vice President Joe Biden and former Secretary of State Hillary Clinton.

Robert Gates on Hannity: 'I Felt Obama Was Suspicious of Military's Motives'

Gates said he would like to see less micromanagement from the White House. He said his book is also a message to Congress about how damaging its actions can be to the national security of the country.

“People ask me, ‘What’s the greatest threat to American national security today?’ And I say it’s encompassed in the two square miles that involve the Capitol and the White House,” Gates said.

Watch the full interview above.