Pompeo said that while he saw progress in Pyongyang, the United States was not relaxing the current sanctions regime or changing its "ironclad" commitment to defend allies South Korea and Japan.
But North Korea's official news agency later said the visit had been "regrettable" and accused Washington of making "gangster-like" demands to force it to abandon its nuclear weapons.
Pompeo shot back at the comments, saying if North Korea thinks the U.S.is a "gangster", then the whole world is too.
Pompeo had hoped during his recent visit to Pyongyang to press North Korea to work toward a timetable to end its nuclear program and come up with details of how verification of that can be carried out. -South Korean military exercises. China is North Korea's traditional ally and main trading partner, and is key to maintaining sanctions on Pyongyang. "(It) will take place at the border and that process will begin to develop over the days that follow", he said as he boarded his plane for Tokyo.
U.S. Secretary of State Mike Pompeo meets with Japanese Prime Minister Shinzo Abe at Abe's official residence in Tokyo on Sunday.
Talks with the North have been led by Pompeo since Joseph Yun, the former point man on U.S. -North Korea talks, as both sides were coming to the table with fundamentally different views of what they were bargaining with.
"The United States has been clear on what we seek from North Korea", Pompeo said in Hanoi.
The discoveries have further undercut Trump's assertion that North Korea was "no longer a nuclear threat". "The North Koreans understand that and have not challenged that".
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"The North Koreans are in the game to get, not to give", said Daniel Russel, the top USA diplomat for East Asia until past year.
Trump wrote. The US president expressed a similarly skeptical attitude towards China's cooperation in July of past year. It recoiled at what it described as a "unilateral and gangster-like demand for denuclearization".
In practical terms, Pompeo mentioned only that officials from both sides would meet on July 12 as a working group to discuss the repatriation of the remains of some United States soldiers killed during the 1950-1953 Korean War.
Dr Yasushi Watanabe of Keio University told The Straits Times that Mr Pompeo might have shrugged off the statement as it appears to be geared towards domestic consumption.
According to the State Department, the working group includes Alex Wong, deputy assistant secretary for East Asian and Pacific affairs, Ben Purser, deputy assistant secretary for global security and nonproliferation, and assists Ambassador to the Philippines Sung Kim, who has led the working-level talks with North Korea.
"Are we in fact going to continue to exceed to the North Koreans' running out the clock", asks Gaffney, "even as the evidence grows that they are continuing to amass the means of threatening our country?"
This, he said, has "stoked distrust and increased the danger of war".