Not looking to get into a pissing match, but that is a very common misconception you have. axl and I are correct here.
You absolutely 100% do not have to own a registered trademark. If you register a domain similiar to someone else’s…depending how similar and offer to sell it to them, that’s a great way to prove you registered the name in bad faith. It depends how similar it is, how generic the name is, how you phrased the offer, etc.
It’s different if you really did register it before they did, though…that wasn’t made clear in the original post.
Also, a common thing is when you register a domain that’s a typo of another company’s and they approach you, you should not offer to sell it to them right upfront. That is how so many people get nailed registering a domain in bad faith.