The summit would discuss "building a permanent and durable peacekeeping mechanism on the Korean Peninsula, the issue of realising denuclearisation of the Korean Peninsula" and other issues "as required by the changed era".
Kim's main concern is the survival of his own regime - South Korean President Moon Jae-in told reporters that the Pyongyang leader had "concerns on whether he could trust that the U.S. would end its hostile policy and guarantee the security of his regime when the North denuclearises itself".
Pompeo traveled twice to Pyongyang in recent months to lay the groundwork for Trump's meeting, becoming the most senior member of Trump's team to spend time with Kim face to face. The United States has nuclear weapons.
However, according to Moon, Kim remains skeptical of the United States leaders' pledges.
You can imagine the drumming of fingers in anterooms as officials wait to be told if there will be peace in our time, or whether it's all fallen apart and we're heading for the airport. There was no official word that Kim had left the country Sunday and arrived in Singapore, hours before Trump. He described it as a "get to know you plus" meeting.
"From our point of view it's important that the meeting take place, and that the meeting sets developments on a new trajectory - one that will be conducive to the security and stability of the region", he said.
Trump landed at Paya Lebar Airbase on board Air Force One after cutting short his time at the G7 summit in Canada.
"Based on Justin's false statements at his news conference, and the fact that Canada is charging massive Tariffs to our U.S. farmers, workers and companies, I have instructed our U.S. Reps not to endorse the Communique as we look at Tariffs on automobiles flooding the U.S. Market!"
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Trump had earlier tweeted about the "excitement in the air!"
Media captionBarbed wire and smuggled crabs: Watching North Korea from China How did they arrive?
Singapore Foreign Minister Vivian Balakrishnan posted a photo of Trump posing with the birthday cake.
Certainly security will soon ramp up but for now the only real hint of what is about to happen are the signs at the front of the summit venue - the uber-luxurious Capella Hotel on Sentosa island - saying "police check, comply with police orders". He surprised them again a couple of weeks ago when he called it off, leaving the region anxious about risky consequences. The Trump administration also launched the so-called "maximum pressure" campaign that sought to choke North Korea with sanctions.
But he has since lowered expectations, backing away from an original demand for North Korea's swift denuclearisation.
Trump and others in his government have said advancement has been made on obtaining a commitment from Kim to give up all his nuclear weapons and long-range ballistic missiles.
Kim met the Singaporean prime minister, Lee Hsien Loong, briefly on Sunday, smiling broadly as the two posed for photographs.
Travelling with him were top officials including Foreign Minister Ri Yong Ho, Defence Minister No Kwang Chol and Kim Yong Chol, a close aide of Kim who has been instrumental in the diplomacy that culminated in Tuesday's summit.
North Koreans were offered a rare glimpse into their reclusive leader's schedule on Monday after the tightly controlled state media issued surprisingly detailed reports of his trip to Singapore.
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Picture: AAPPrince Harry and Meghan Markle attend the United Kingdom team trials for the Invictus Games Sydney 2018 in England. These facts have led some sources to believe that Meghan may pull out of the trip if she were to fall pregnant before October.