Hours before the meeting, Trump had seemed more cautious in a Twitter post: "Meetings between staffs and representatives are going well and quickly..." There has been American military stationed in South Korea since the outbreak of the Korean War in 1950.
Before signing what Trump described as a "comprehensive letter", Kim said the two leaders had held a historic meeting "and made a decision to leave the past behind".
"I think it's gonna be really successful, and I think we will have a terrific relationship, I have no doubt", Trump said.
However, at the same time, the executive office of South Korean President Moon Jae-in told their state media outlet Yonhap News that the suspension of joint military drills may be a necessary step in urging North Korea to enter denuclearization talks.
"Kim Jong Un and Trump had the shared recognition to the effect that it is important to abide by the principle of step-by-step and simultaneous action in achieving peace, stability and denuclearisation of the Korean Peninsula", KCNA said.
Trump also hit back at critics of the agreement, which analysts called sparse and underwhelming and said it gifted North Korea the legitimacy it craved in exchange for very little.
"I do trust him, yeah", Trump said.
Responding to the barrage of criticism in Seoul a day after Trump met Kim in Singapore, Pompeo said he "most definitively" expected to see nuclear disarmament before Trump's current term ends on January 20, 2021. The report said they "celebrated" Kim "on the success of the summit".
He said he was confident Pyongyang understood the need for verification that it was dismantling its nuclear programme.
The issue was "not part of the equation right now", he said, but "at some point I hope it will be".
"I'm going to leave the content of our discussions between the two parties, but one should heavily discount some things that are written in other places", Pompeo said.
US President Donald Trump addressing media persons at DPRK-USA Singapore Summit.
There is already much debate about who is the biggest victor out of the meeting.
Japan has maintained a hardline position on North Korea despite a whirlwind of diplomacy towards Pyongyang in recent months, and has been left largely on the sidelines as South Korea and the United States have held talks with Kim. It was Trump's unique and maverick approach to the North Korean problem, they argue, that yielded results nobody anticipated.
The leaders of the two nations managed to engineer a historic meeting, but the overriding impression that remains is that the United States and North Korea now stand at a crossroads between peace and war.
Pyongyang has celebrated the summit as a great win for the country.
"It's weird but it might be that Kim Jong-un's interests and Donald Trump's interests align. Triumphant moment for Kim and North Korea that will become fodder for art, posters, stamps", tweeted Jean H. Lee, director of the Korea Center at the Wilson Center.
To probably even his own surprise, he got that and a whole lot more.
Backdrops of USA and North Korean flags, both red white and blue, were also prominent in the Rodong Sinmun, which has previously lashed the United States as a "gangster-like imperialist", and "cancer-like entity". "Everyone walks away happy-Kim having met POTUS as an equal-having committed to nothing. Can". He appeared before hundreds of journalists at a news conference, the sort of free-wheeling media session that he's determinedly avoided for most of his presidency.