This is a glitch of a terminology update
In 2014, you had "known" and "prepared" spells. Some classes "knew" spells, and some classes "prepared" spells; they could swap out what spells they had "prepared" each day.
Wizards could swap out spells from their spellbook, and other classes (paladins, druids, clerics) could swap out spells from their entire list.
Cantrips, meanwhile, where always "known" - you couldn't swap them out.
In 2024 they revised wording, and used "prepared" even for spellcasters who could only change spells when they leveled up, like sorcerers and bards.
The wording for "known" on cantrips however remained, as a sort of vestigial leftover of the 2014 rules.
Can you cast a Cantrip?
As you have noted, you must have a spell "prepared" to cast it. Either known implies it is prepared, or it does not. Except that D&D 5e uses exception based design.
In 2014, the rules for Cantrips contradict the general rules:
A cantrip is a spell that can be cast at will, without using a spell slot and without being prepared in advance
it permits casting the spell without preparation. But 2024 dropped this.
I'd recommend just incorporating it. Without it, the only way to allow someone to cast a Cantrip would be to consider them prepared. But if you consider them prepared, a number of problems develop.
Looking at the cleric rules, they know a set of cantrips. They can change which cantrips they know when they level up.
They also prepare spells of level 1+. They can change these every day.
Then we have the cleric rules on changing out prepared spells:
Changing Your Prepared Spells. Whenever you finish a Long Rest, you can change your list of prepared spells, replacing any of the spells there with other Cleric spells for which you have spell slots.
Apply this to cantrips (or similar rules in other spots) and things start acting weird.
TL;DR
"Known" Cantrips should not be considered prepared.
However, you should treat "known" Cantrips as if you have them always prepared for the purposes of "can you scribe a scroll" "can you cast the spell" or other similar situations. Do not treat them as prepared for the purpose of "swapping which spell you have prepared when you wake up in the morning".
The wording is a bit awkward because they made some minor editing errors in simplifying how spellcasting is described.