Indeed they did. In fact, because 'Africa' at the time still referred to the rough territory of the former Roman province of that name, rather than the entire continent, the Sicilian king styled himself King of Africa while they controlled the territory.
Technically that'd be Tobago, not Trinidad. The Spanish established a stable colony on Trinidad quite early on, but it took ages for a successful colony on Tobago to be established. Many countries tried and failed, and I believe it was ultimately French colonists (albeit ones who would later swear fealty to Spain) who managed it.
Did the Vikings make it to Algeria?Danish Colonies?