North Korea's development of nuclear weapons and missiles capable of reaching the United States brought exchanges of bellicose rhetoric between Mr Trump and Mr Kim past year that raised fears of a new war on the Korean peninsula.
Tensions between the U.S. and North Korea appear to have calmed in recent weeks following Chairman Kim's pleadge to denuclearize the Korean peninsula.
Earlier, the leader of two Koreas conducted a historic meeting on April 27 in Panmunjon, near-border village on the territory of South Korea.
Washington's focus is on disarming Kim's regime, which has recently tested what appear to be missiles capable of carrying his nuclear threat to U.S. cities. Now, she was here, by the way, also to plan for her president's trip to Washington later this month.
"If that happens, it could give North Korea an opportunity to try to drive a wedge between Seoul and Washington", said Denmark, now a director at the Wilson Center, a think tank in the USA capital. It was Pompeo's first since becoming the head of the State Department.
The meeting is scheduled for one day on 12 June, but if either or both leaders decide to stay overnight, there is only one hotel room in all the city that meets "security protocol" for the USA president, according to a source with knowledge of previous United States presidential visits.
There was no confirmation on the specific location for the meeting between Kim and Trump although there are several sites in Singapore that can guarantee security protection, including hotels that have experience hosting high-security events, Singapore media and a Singapore government official said. According to him, they'll both try making it a special moment for peace worldwide.
The foreign minister also ruled out any easing of sanctions against North Korea in the near future.
The release of Kim Hak-song, Tony Kim, and Kim Dong-chul removed one obstacle, providing Trump with evidence that his twin-track policy of engagement and "maximum pressure" is working.
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"As he has said many times, 'we'll see what happens, '" Sanders told reporters at the daily briefing.
"But we got, up front, our people home".
"If North Korea takes bold action to quickly denuclearise, the United States is prepared to work with North Korea to achieve prosperity on par with our South Korean friends", said Mike Pompeo. U.S. officials also considered holding the summit at Mongolia or a Korean demilitarized zone, yet it was settled on Singapore as the summit location.
When Trump and Kim do sit down, the two relatively untested leaders will be presented with a puzzle that has stymied seasoned diplomats for decades.
But, despite the optimism of that moment, all efforts to limit North Korea's nuclear program have so far failed.
Daily life in the two countries couldn't be more different.
Journalists asked Pompeo what such a denuclearization would look like and if it meant carrying out inspections in North Korean nuclear plants.
North Korea has carried out six nuclear tests, and a string of missile launches - including three intercontinental ballistic missiles.
"I am confident that we have a shared understanding of the outcome that the leaders want", Pompeo said.