Boris Johnson has defended his use of words such as "surrender" - saying to avoid doing so was "impoverishing the language and diminishing parliamentary debate".
The Prime Minister admitted that tempers on both sides of the Brexit debate had become "inflamed" - but said it was wrong for parliamentarians to be crowded out from using words like surrender.
He told BBC One's The Andrew Marr Show: "I think what most people in this country would agree is that Brexit discussion has been going on for far too long and it is true that tempers on both sides have now become inflamed...
"The best way to end this is to get Brexit done on October 31st and move the country forwards."
Johnson claimed the best thing for people's "psychological health" would be to deliver Brexit.
"The best thing for the country and for people's overall psychological health would be to get Brexit done," he told Marr.
"It's not just I who thinks that - if you look at where the public is, whether they voted Leave or Remain - they really think it's up to Parliament now to get this thing over the line."
The Prime Minister claimed his use of the word "humbug" in response to Paula Sherriff may have been a misunderstanding.
"My use of the word humbug was in the context of people trying to prevent me - us - from using the word 'surrender'," he told the BBC.
Andrew Marr said Sheriff - who claimed people quoted the Prime Minister's words in death threats to MPs - was talking about something "very specific".
Johnson said: "In that case, that was a total misunderstanding and that was wrong."
He added: "I can certainly say sorry for the misunderstanding, but my intention was to refuse to be crowded out from using the word 'surrender' to describe the Surrender Act."
The Prime Minister told the BBC: "We haven't got a prayer of uniting the country until we get Brexit over the line. That's my crucial point.
"I believe that we've been waiting for three and a half years now to deliver on this result."
The PM also said there was "absolutely no way" he would bring back the current Withdrawal Agreement which has been rejected by MPs three times.
He said: "I think there's a good chance of getting an excellent deal and that's what we're working towards ... but what I can tell you ... is that under no circumstances will we allow the UK to be trapped in the existing proposal, the arrangements that make sure that we are retained in the European tariff structure, retained in the customs union, retained in the single market, with no say on those arrangements.
"We must get rid of the so-called backstop - that's what I've always said - and that is what we are going to do, and we're going to come out on October 31st."
Johnson claimed that the Benn Act had hampered chances of reaching a Brexit deal.
"Obviously, the chances of deal or no deal depend very much on the common sense of our friends and partners," he told the BBC.
"It has not been helped by the Surrender Act, our chances of getting a deal, I'll be very clear with you."
He said that in Brussels "if they think there is a realistic chance that the UK can be kept in", that "takes away a lot of our negotiating freedom of manoeuvre ".
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