It was also announced on the Fox News website as well so go figure.

Assuming the worst, this sounds like the Michael Jackson syndrone.  You're on top of you game only to be brought down by "questionable" behavior.  That's life for some.

The lawsuits against him don't say they let him.

Yes it is.
Because not everyone will let you. He cannot possibly know that. That's hyperbole.
He said:

"I just start kissing them, it's like a magnet. Just kiss. I don't even wait. And when you're a star, they let you do it. You can do anything," he said in the 2005 conversation. "Grab 'em by the pussy."

http://www.thedailybeast.com/articles/2017/04/19/choking-harassing-and-loofahs-women-s-allegations-against-bill-o-reilly-piled-up-for-years-before-his-demise.html

Well touching a woman on the shoulder to get their attention is basically rape these days, so its hard to say how serious this is.

Im saying that what he said was messed up.

Women won't let you grab them by the pussy if you're famous. Some women will.
That's why we have laws against this "I don't even wait" mentality of his, and it's called called suxual assault.

One last thing . What exactly do you think he meant by "I don't even wait", if not that he doesn't wait for a sign of aproval?

Then it sounds like you agree that "not waiting for signs of aproval" in combination with the false claim that women in general will let you do that, is disturbing? But passing it off as a joke?

One could run into a dozen women that will be ok with it. But it only takes one who isn't, and that's why we have laws against sexual assault.

As for if he was joking, I've never heard anyone joke about forcing themselves on women, just because they all luckily happened to be ok with it. I hear guys bragging about women wanting them, grinding up against them on the dancefloor, flirting with them at the bar, inviting them over at night, etc. Never heard "I grope women out of the blue because they all luckily happend to be ok with it because I'm rich." That's kind of an asshole version of the former.
It's like implying that your money and status will deter them from taking legal actions against you, because army of lawyers, etc.