Modal Verbs + να (θέλω / πρέπει / μπορώ)
The everyday modal expressions take να + a conjugated verb, never an infinitive: θέλω να … (“I want to …”), πρέπει να … (“I must / have to …”), μπορώ να … (“I can / am able to …”). The verb after να agrees with the subject - θέλω να πάω (“I want to go”), πρέπει να φύγω (“I must leave”). πρέπει is impersonal (“it is necessary that …”) but the να-verb still carries the person.
The rule
The everyday modal expressions all take να + a conjugated verb, never an infinitive: θέλω να … (“I want to …”), πρέπει να … (“I must / have to …”), μπορώ να … (“I can …”). θέλω να φύγω, μπορώ να ταξιδέψω. πρέπει is impersonal (it does not change for the person), but the να-verb still carries the person - πρέπει να φύγω (“I must leave”), πρέπει να φύγεις (“you must leave”).