Your gnuplot build has neither the png nor the pngcairo terminal
compiled into it. It looks like a rather minimal build, did you compile
it yourself?
You need to install the headers files for libgd (for png, jpeg, gif)
and/or libcairo/libpango (for pngcairo etc.) first. (named ##-dev in
most distributions.) Then rerun ./configure, the summary on the last
page tells you if all necessary libraries for the respective terminals
have been found. make, make install, you get it.
If it came with your distribution (which one?), you probably picked the
minimal X11-only gnuplot build or so. Check if there's another one
available in your package manager.
Karl