North Korea: Donald Trump and Kim Jong-un to meet in Singapore

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Mr Pompeo said that he had had good conversations with Mr Kim, who he found to be a focused and rational interlocutor. And that is why I say we are still clear-eyed and realistic about what will take place at the meeting.

The ceremony, which also featured a giant American flag suspended between the ladders of two firetrucks, emphasized Trump's penchant for the dramatic as he raised expectations for the summit.

Mr Trump thanked the North Korean leader who approved the release, saying he had been "excellent" to the three "incredible men". Frankly, we didn't think this was going to happen, but it did. "And right now we're just taking it one day at a time".

During the call, Mr Lee also invited the US leader to make a state visit to Singapore in November, in conjunction with the 6th Asean-US Summit and 13th East Asia Summit. During the meeting, Kim and Moon signed a joint declaration, agreeing to take measures to support worldwide efforts aimed at denuclearizing the peninsula and proceeding with reunion programs for separated Korean families.

"It is a great honour". But North Korea has said it's willing to talk now because it's already succeeded in becoming a nuclear-armed state, fueling skepticism that the North would truly be willing to give those weapons up. For Kim Jong-un, the trip to Singapore will mark the furthest he's traveled from North Korea since becoming the country's leader in 2011. "I really think a lot of progress has been made".

She said the U.S. troop presence in the South for the past 65 years plays a "crucial role for deterrence", peace and stability on the Korean peninsula.

There has been no word from North Korea on its agenda or what it might offer, although a key issue is likely to be the presence of 30,000 USA military personnel in South Korea, along with the removal of sanctions.

U.S. media said Trump scored a diplomatic victory with North Korea releasing the three imprisoned American citizens.

No family members or friends of the freed Americans were present for their arrival due to protocol reasons, said an official. An official told CNN that the men had to first debrief intelligence officials before heading to their homes.

The men are now at Walter Reed National Military Medical Center for what's called "decompression time".