Those countries both narrowly secured the required two-thirds support of the 192 voting members of the UN General Assembly on Wednesday's first ballot, while Canada fell short.
"It is unfortunate that we're in a situation of having to compete against friends", he said.
The remaining seat will be a battle between Kenya and Djibouti.
In the Asia-Pacific region, India - which has been trying unsuccessfully to win a permanent seat in an expanded Security Council - is assured of a seat as it is running unopposed, as is Mexico in the Latin America and Caribbean region.
The development marks the second time Canada has lost its attempt to secure the seat; a 2010 effort under then-Prime Minister Stephen Harper also failed.
After winning the 2015 election, Liberal leader Trudeau vowed "Canada is back" and a willing partner in the worldwide community. "I was hoping we would, and we certainly worked hard to do it".
Opposition Leader Andrew Scheer and Prime Minister Justin Trudeau debate the U.N Security Council Campaign in the COVID committee of the House of Commons. "But when it comes to concrete policy, there just isn't any".
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Wednesday's election comes after months of intense campaigning.
Fearing fraud or manipulation, the General Assembly will not vote electronically, even though the United Nations is mostly operating virtually until the end of July due to the coronavirus pandemic. That has included convening like-minded nations to ensure food security in developing countries, keeping vital supply chains open across the globe, and working on new financing models to help struggling countries whose economies have been decimated by the pandemic.
Among the early voters were US Ambassador Kelly Craft and the ambassadors of Poland and Turkey.
Does Canada's sanctions policy respect global law? That includes low levels of worldwide development spending and contributions to United Nations peacekeeping, and arms sales to Saudi Arabia. Norway and Ireland will hold the seats for the 2021-22 term. Canada needed 128 votes, or two-thirds of the voting members of the assembly.
"This is not a leaders' popularity contest; it is about perceptions of Canada's effectiveness on the world stage compared to Norway and Ireland", said Bessma Momani, an global affairs expert at the University of Waterloo. Canada won just 108.
Canada's first-ballot defeat wasn't as resounding as it appeared, given that Norway and Ireland barely reached the 128-vote threshold, said Adam Chapnick, a professor at the Royal Military College of Canada and author of a recent book on the Security Council.
Briefing the media on India's election to the United Nations body, Secretary West in the Ministry of External Affairs, Vikas Swarup, said the country looks forward for being the voice for all those who are not represented on the Council.