Did the word "trespass" change meaning over time?

When I was a kid, "No Trespassing" basically meant "'do not enter these premises", and if you "trespassed" that meant you entered those premises unauthorized.

Nowadays I see it used to mean "kick out of", where in police body cam videos they threaten to "trespass" someone, meaning to remove them from the premises.

Did it always have both meanings?

Are there still "No Trespassing" signs, or does trespass no longer mean what it used to mean?