People's Republic of Korea (DPRK) leader Kim Jong-un on June 12 in Singapore.
He described his conversations with Kim as "warm" and said both had tried "our best to make sure that we were communicating clearly and had shared understanding about what our mutual objectives were".
Tony Kim, Kim Hak-song, and Kim Dong-chul-three USA citizens with Korean heritage-were released by the North Korean regime in what the country's state media said was a decision to grant "amnesty" by Kim Jong-un. First lady Melania Trump watches at left.
While welcoming three American hostages who had been held in North Korea, President Donald Trump managed to get in a dig at the New York Times.
Such a program should involve partners around the world, such as South Korea and Japan, according to the chief US diplomat.
While the two leaders have been trading barbs over the USA and North Korea's capabilities and nuclear power, the two nations have, of late, been trying to build a relation.
Mr Trump said he favoured holding the meeting at the demilitarised zone, the heavily fortified border separating North and South Korea.
Trump revealed the summit will occur June 12 in Singapore.
Mr Trump said Kim wants to bring North Korea into "the real world".
Secretary of State Mike Pompeo escorted the detainees back to the United States following discussions with North Korea earlier in the week.
It also avoids any embarrassment for Kim, as North Korea's ageing jets limits the distance he can travel without stopping to refuel.
South Korea's government said it had high hopes. "My proudest achievement will be when we denuclearize that entire [Korean] peninsula, " Trump added, in an implicit acknowledgement that this was just the early steps of a diplomatic journey.
The former detainees, who had all been held captive for more than a year, appeared slightly stooped but otherwise in good health as they descended the plane's stairs without help.
But both Ms Kang and Mr Pompeo insisted that they agreed on the need for the "total, complete, permanent and verifiable" denuclearisation of the divided peninsula.
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