Imjustapoorboy, quote wasn't from Hansard, no.
However, quick search on Hansard brings up many quotes where he clearly states that he wants "best possible access" - here is a small selection:
the simple truth is that what we want is a good outcome in terms of access to the single^ market^
In these debates, membership of the singlemarket and access to the single^ market^ are often conflated
he of all people would pull me up if I confused access to the single^ market^with membership of the single^ market^.
the Government’s aim is to maintain the freest and most barrier-free access to the single^ market^ that we can obtain
we will seek to get the most open, barrier-free market that we can. That will be as good as a singlemarket.
Is it not time that we straightforwardly said that we want the fullest possible access to the single^ market^, but that we cannot, if we are going to stop free movement, which is what the people of this country wanted, be members of the single^ market^?