grab
grip hold
One possibility is grab.
grip
You grip something tightly.
It means u hold something tightly or you don't hold it tightly
grip
Grip
rope
GRIP
The word is clutch. Note that this is a verb and a noun at the same time.
Some words that mean to hold on tightly are: clasp clutch grasp grip seize
That definition describes the action of "grip" or "clutching" something tightly.