Rudy Giuliani -- I'm the Trump Whisperer! (VIDEO)

Rudy Giuliani believes Donald Trump has the right message, even if he uses the wrong words.

Our photog bumped into the former NYC mayor Wednesday ... and asked him what The Donald can do to win back the support of the various people he's offended ... with his comments about Latinos.

Rudy immediately took Trump's defense ... echoing his sentiments about border control, but doing it in a way that is much, much less offensive.

Words matter.