A group of lawmakers on Thursday proposed a parliamentary resolution calling on President Moon Jae-in to scrap a South Korea-U.S. missile guideline, saying it has restricted Seoul's missile capabilities and commercial rocket development.
Pyongyang has warned of more similar tests to come.
The planned joint US and South Korean response has been named OPLAN 5015.
Another stamp shows the rocket standing in between the Asian and the American continent, and the other is an illustration of the rocket soaring through the clouds, "with the boom of victory in the showdown with the US", as the state-controlled KCNA news agency described it.
Thursday, two B-1s joined four U.S. Marine F-35 stealth fighters and four Republic of Korea F-15s in a joint show of force mission.
Mattis said the firing of North Korean ballistic missile that flew over northern Japan, was reckless.
But despite Pyongyang's propaganda in favour of the ICBM Hwasong-14, the weapon of choice has recently been the intermediate range ballistic missile (IRBM) Hwasong-12. Still, it's unclear whether the North will ever act on its threat to fire missiles at the "advanced base of invasion".
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"North Korea's actions are a threat to our allies, partners and homeland, and their destabilizing actions will be met accordingly", he said.
Before Tuesday's launch, it appeared North Korea was backing away from its threat to fire missiles toward Guam.
US President Donald Trump, who has vowed not to let North Korea develop nuclear missiles that can hit the mainland United States, said the world had received North Korea's latest message "loud and clear". U.S. military experts can continue to search for preventive options - or any option that will avoid triggering a process of mutual escalation leading to a major military exchange or war.
Russian Foreign Minister Sergei Lavrov has told US Secretary of State Rex Tillerson by phone that any further strengthening of sanctions against North Korea would be counter-productive. "We continue to work together, and the minister and I share responsibility to provide for the protection of our nation, our populations, and our interests, which is what we are here to discuss today", he said.
He was referring to Mr Trump's remarks earlier this month in which he said he would respond with "fire and fury" if North Korea persisted in threatening his country. Some experts believe the next North Korean launches will be bolder unless Washington makes serious concessions.
Speaking ahead of a meeting at the Pentagon with his South Korean counterpart, Song Young-moo, Mr Mattis said, "We are never out of diplomatic solutions". -South Korean war games.
The missile was launched from the Sunan airfield in Pyongyang on Tuesday morning towards Japan and entered the air space over Hokkaido, said the Japanese government.