Joint U.S. and South Korea military exercises occur regularly on the Korean Peninsula and have long angered North Korea, with Mr. Kim - like his father and grandfather before him - having called the drills a preparation for invasion of the North and seized on them as an impetus for hurling threats at Washington and Seoul.
At least one group of former North Koreans now living in Canada say Trump's new willingness to foster closer ties with Kim are risky, and criticized the president for focusing on denuclearization rather than seeking answers about human rights in the country.
"U.S. gives up one of our biggest negotiating chips - military exercises", Sen.
KCNA reported Mr Kim as saying of the sightseeing tour that "Singapore is clean and lovely, and every building is stylish as he heard of in the past, adding he is going to learn a lot from the good knowledge and experience of Singapore in various fields in the future".
Trump said Tuesday that he would invite Kim to the White House at an "appropriate time". We have. We know how it could end unless the Trump administration is capable of writing a different ending. "The other approaches haven't worked".
"Well, he is very talented", Mr Trump said.
Those conditions were absent from the wording of the joint declaration. Ending the exercises would also save money, Trump said. "He had a lot to do with us being here today".
The North's official Korean Central News Agency (KCNA) quoted Kim as saying that if the United States were to take "genuine measures for building trust", the North, too, could "continue to take additional good-will measures ... commensurate with them".More news: Anthony Bourdain and Kate Spade's deaths are part of a growing problem in the US
Mr Trump said the drills were "provocative" - even though the U.S. has previously defended them - and there were suggestions that USA allies in the region had not been forewarned of this move.
"For North Korea, they got exactly what they wanted".
She said the global community was at the beginning of a very long process: "The detail is still to be worked through".
After a one-on-one meeting, followed by wider talks with advisers and a working lunch, they presented their agreement.
The US would suspend "provocative" war games it holds with South Korea.
The first sigh of relief we should all have is that Trump has rejected the idea that we need to have strikes on North Korea and he's open to diplomacy.
Using an iPad, Trump said, he showed Kim a short video made on his behalf, laying out the opportunities that could come with an agreement to eliminate North Korea's nuclear arsenal - a story about "two men, two leaders, one destiny".
Melissa Hanham of the US-based Center for Nonproliferation Studies said on Twitter that North Korea had "already promised to do this many times", adding the two sides "still don't agree on what "denuclearization" means". That included the US decision to halt its drills, although it's unclear which ones and for how long.