You must use one of those CAN transceiver chips. The output pins on those chips are meant to be able to connect to a CAN bus, like the ones in your vehicle. Don't forget the ground connection, which is implied but not always explicitly shown in wiring diagrams.
Teensy requires 5V power to run. If powering in a vehicle, you'll probably need a 12V to 5V power supply. Beware, cars can have terribly noisy 12V systems, especially if the car's battery becomes disconnected while the engine is running. Many power supplies not designed for automotive use might not survive those scenarios. Some might even pass the noise onto Teensy, possibly destroying it as well.