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You need to install Tableau Server, if you've already installed then please provide the server IP in the tab and sign in to the server to publish your workbook.
If you're new to Tableau then i'll suggest to go through the documentation first because if you keep doing like this you'll not able to understand the work flow.
Please follow the link -
For Tableau Desktop- Get Started with Tableau Desktop
For Tableau Server- Get Started with Tableau Server
and yes, you can publish the workbook with Tableau 9.3 version.