Trump justified the comment by saying Clinton "wants to destroy your Second Amendment."
Clinton has called for some stricter gun control measures, such as universal background checks and prohibiting individuals on the terror watch list from buying firearms, but does not support revoking an individual's right to bear arms.
"She wants to destroy your Second Amendment," he said. "I think what we should do is she goes around with armed bodyguards, like you have never seen before. I think that her bodyguards should disarm, right? Right? Think they should disarm. Immediately, what do you think? Yes? Yes. Yeah. Take their guns away. She doesn't want guns. Let's see what happens to her."
Trump's comment was an impromptu addition to his speech to supporters in Miami on Friday night, according to The New York Times.
Clinton's campaign responded quickly, denouncing the comment as reckless and unsafe. Clinton campaign manager Robbie Mook said Trump has "a pattern of inciting people to violence."
"Whether this is done to provoke protesters at a rally or casually or even as a joke, it is an unacceptable quality in anyone seeking the job of commander in chief," he wrote in a statement. "This kind of talk should be out of bounds for a presidential candidate, just like it should be out of bounds for a presidential candidate to peddle a conspiracy theory about the president of the United States for five years."
Trump's reference to Clinton's Secret Service protection -- which he also receives -- was not his first. In August, Trump suggested "the Second Amendment people" could stop Clinton, a comment that was condemned by Republicans and Democrats alike. Trump said he meant gun owners should vote against her, not try to kill her.