Pompeo, who returned from Pyongyang this week with three American prisoners who had been held by North Korea, said the release of men had helped set conditions for a successful meeting between Trump and Kim in Singapore on June 12.
On Thursday, U.S. Vice President Mike Pence praised Kim Jong Un for making moves toward peace, but expressed caution.
And Pompeo said the United States would remain on board to help develop the North's economy, which has been devastated by its own mismanagement and crippling worldwide sanctions.
Therefore, she added, any change in the size of the United States forces in the South Korea should not be on the table at the summit. "Conversations that involved deep complex problems, challenges; the strategic decision that Chairman Kim has before him about how it is he wishes to proceed and if he is prepared, in exchange for the assurances we are ready to provide to him, if he is prepared to fully denuclearise".
While denying there will be any provision of economic support to North Korea for the time being, Abe said Japan would have to share with the global community the cost of nuclear inspections by the worldwide Atomic Energy Agency in North Korea.
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"We reaffirmed that our goal is to achieve the complete, verifiable and irreversible denuclearization on the Korean Peninsula", she added, promising "air-tight" coordination.
"There's a danger here of the peace track moving more quickly than the denuclearization track", warned Abraham Denmark, an Asia expert and former senior United States defense official.
So far, the North Korean regime has made vague pledges to "denuclearize" but has not spelled out what that means, when it would happen or how it would be implemented.
"I think that we have a shared vision for what we hope".
USA officials had called for North Korea to take bold actions and concrete steps toward denuclearization.
Amid concerns that North Korea will demand the US withdraw its troops from neighbouring South Korea, Ms Kang emphasised that the US military presence there must be "a matter for the US-ROK alliance first and foremost", using an acronym for South Korea's official name, the Republic of Korea. "We're very clear that the sanctions remain in place until and unless we see visible meaningful action taken by North Korea on the denuclearization track".