We have to be here. It means the same thing and should be accepted, seems to me.
As far as I know, "need to" and "must/have to" have different connotations and, strictly speaking, are not interchangeable. "Треба" is more like "need to."
I would translate the verbs like this:
- I must - Я повинен
- I have to - Я маю
- I need to - Mені треба/необхідно