"That" is not a relative pronoun, not even in English. An indirect statement is not a relative clause. In classical Latin, indirect statements are realised by an AcI that is dependent on a finite verbum dicendi. You've just done it the other way round: You turned the verb of the main clause that should actually be finite into an infinitive. clamare needs to agree with homo and the "(he) wants" needs to be non-finite.
What I meant was that in order to translate the sentence above, you first need to find a way of saying "The soldier replied/said/answered/responded/claimed" - the words I underlined are verba dicendi, verbs that express some idea of speaking.
These words usually trigger an accusative with infinitive when they introduce indirect speech, so "occupatus est" must be made inflected/changed and fit into an AcI construction.
I'm not sure if I missed it, if it was never posted, or if I just have a bad memory on this, but in Ignis Umbra's post on indirect statements, I don't recall seeing what should be done with words like Publius in this situation (though I do have the rest of the parsing standing by).