“I have a whole list of things that I want our next president to do for us,” Cardi B told the Democratic candidate. “But first, I just want Trump out. His mouth gets us in trouble so much."
“I want Black people to stop getting killed and no justice for it,” said Cardi B, referencing the killing of George Floyd, who died while in police custody in May.
“I’m sick of it. I just want laws that are fair to Black citizens and fair to cops, too."
The Grammy winner also pointed to the country's high numbers of Covid-19 infections and deaths as part of the reason that she backs free Medicare for all, adding that she had been confused by the president’s handling of the pandemic, singling out his U-turn on face masks.
The interview was published ahead of the four-day Democratic National Convention which begins on Monday night and focuses on the theme of unity.
Former president Barack Obama and former first lady Michelle Obama are set to bring the opening night to a close with their keynote speeches.
During the interview, Mr Biden congratulated Cardi B for featuring on the front cover of the next edition of Elle.
He also urged young people to use their votes if they wanted to see the president removed from the White House.
Mr Biden, who is currently nine points ahead in the polls, told Cardi B that young Americans have the power to decide the result of November’s election.
“The vote matters,” said Biden. “Your generation can own what happens in the next election. They can change things dramatically if they show up and vote.”
Biden also lamented Trump’s 2016 victory, saying it did not “have to happen”, adding that had more 18- to 24-year-olds gone out and cast their ballots, then the result could have been different.
“That’s why you keep talking to people about the need to vote,” he added.