obligation/necessity
must
have to
should
it is not necessary in the present or future
don’t have to
don’t need to
we know that it happened in the past although it wasn’t necessary
needn’t + bare perfect infinitive
it was not necessary in the past but we don’t know if it happened
didn’t need to
didn’t have to
prohibition
mustn’t
can’t
advice
should/ought to
possibility
can
could
ability and inability
can
could
was able to
offers
can
would
shall
could
probability
will
should/ought to
premission
can
may
logical assumption
must
may/might
can’t