A colon is missing after range(20).
The following version works for me:
(but the indentation  in this post may be broken)
x,y,z,t = var('x,y,z,t')
P = implicit_plot3d(x^2 +y^2 -z^2 ==1, (x,-3.2,3.2),(y,-3.2,3.2),
(z,-3,3),opacity=.2,color='blue')
for k in range(20):
    P += parametric_plot3d([cos((2*pi*k)/(20))+sin((2*pi*k)/
(20))*t,sin((2*pi*k)/(20))-cos((2*pi*k)/(20))*t,t],
(t,-3,3),color='red',thickness=2)
P.show()

Andrzej Chrzeszczyk

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