Get post’s category id in 2.3?

I need some help with understanding these new taxonomy-tables.

This is the “old” query I’ve been using, to get post titles, IDs and their category IDs from the database.

How can I convert that to all of 2.3’s wierdness? My best attempt looks like this, but MySQL won’t let me run the query (“Select command denied for user […]”).

Any help would be much appreciated!