Sifrei Mitzvot do Powtórzonego Prawa 7:2

וּנְתָנָ֞ם יְהוָ֧ה אֱלֹהֶ֛יךָ לְפָנֶ֖יךָ וְהִכִּיתָ֑ם הַחֲרֵ֤ם תַּחֲרִים֙ אֹתָ֔ם לֹא־תִכְרֹ֥ת לָהֶ֛ם בְּרִ֖ית וְלֹ֥א תְחָנֵּֽם׃

A wyda je Wiekuisty, Bóg twój, tobie, że porazisz je: podaj je wtedy zaklęciu; nie zawieraj z niemi przymierza, ani oszczędzaj ich, -  

Mishneh Torah, Kings and Wars

It is a Positive Commandment to exterminate the Seven Nations, as it says, “surely, you shall destroy them” (Deut. 20:17). Anyone who comes across any of these nations and fails to kill them violates a Negative Commandment, as it says, “you shall not keep alive any soul” (Deut. 20:16). Nonetheless, they have already all been destroyed and their memory forgotten.
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Sefer Hamitzvot of Rasag

Gimel. Their [Canaanite] nations- do not make treaties with them
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Mishneh Torah, Positive Mitzvot

To exterminate the seven Canaanite nations from the land of Israel, as it is said, “But thou shalt utterly destroy them….” (Deut. 20:17).
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