You need to JOIN
the term tables with the posts table, something like this:
SELECT
p.post_name,
p.post_content,
t.name
FROM wp_posts p
JOIN wp_term_relationships tr ON ( tr.object_id = p.ID )
JOIN wp_term_taxonomy tt ON ( tt.term_taxonomy_id = tr.term_taxonomy_id )
JOIN wp_terms t ON ( t.term_id = tt.term_id )
WHERE
p.post_type="post"
AND
p.post_status="publish"
AND
tt.taxonomy = 'category'
Let me know if you have any questions!
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