Q: How do I get my iPod to charge without it saying that it malfunctioned the last time the USB was plugged in??

if you aren't too worried about loosing recent data or settings, you could try restoring it to the latest backup in iTunes.

Without knowing the exact wording of the error message:

Not Charge

- See:      

iPod touch: Hardware troubleshooting

- Try another cable. Some 5G iPods were shipped with Lightning cable that were either initially defective or failed after short use.

- Try another charging source

- Inspect the dock connector on the iPod for bent or missing contacts, foreign material, corroded contacts, broken, missing or cracked plastic.

- Make an appointment at the Genius Bar of an Apple store.

Apple Retail Store - Genius Bar