mustn't, It's illegal. Prohibiton., could/might/may, It's possible. Maybe, perhaps. Doubt (no evidence), couldn't, It wasn't possible. General skills., don't have to, It's not obligatory, have to, It's an obligation. OTHERS, PARTICULAR RULES, had to, It was an obligation. Past of MUST, didn't have to, It wasn't obligatory, should, It's a good idea. POSITIVE ADVICE, shouldn't, It's a bad idea. NEGATIVE ADVICE, didn't need to, It wasn't necessary, don't need to/needn't, It isn't necessary, was/were able to, Specific achievements. Took a special effort, must, It's an obligation. General law/The subject itself, must (I'm sure), It's a certain with EVIDENCE., may, more likely to happens. It's uncertain, I'm not sure, perhaps, maybe, I don't know.., might, lower level of possibility than “may.” It's uncertain, I'm not sure, perhaps, maybe, I don't know...

Basic modal verbs.

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