Vagabound, one can only have respect for someone who takes the trouble to clarify stuff like this before they start dissing. How can I ignore such a polite question?
To take the piss, one generally mocks and ridicules one's object. Any kind of mocking can be covered by the term, though it most often refers to crude abuse or various kinds of parody. It's the latter I suspect Verhoeven is up to. He is, I am almost certain, sending up Heinlein's near rabid xenophobia and hawkishness beyond the dreams even of John Wayne, by deliberately parodying it.
I wait with 'bated breath for you to tell me how wrong i am in this assumption."