Japan bans all trade between the countries and prohibits North Korean-registered ships from entering its ports, except for humanitarian purposes. It also bans flights between the countries.
Pompeo was greeted in the North Korean capital by Kim's right hand man Kim Yong Chol and Foreign Minister Ri Yong Ho, pool reports said.
Kim has agreed to meet with South Korean President Moon Jae-in in the Demilitarized Zone in late April, while Trump and the North Korean leader could meet by the end of May.
The former secretary of state Hillary Clinton said that Washington lacked experienced diplomats to handle the talks.
More than once in the past, leadership in Pyongyang has promised to abandon its nuclear ambitions in return for economic aid or sanctions relief only to renege on it.
South Korean Foreign Minister Kang Kyung-Wha will meet her European Union counterparts at their regular meeting in Brussels on March 19 to update them on developments.
South Korean delegation heads to Pyongyang to push for talks between US and North on nuclear weapons
An intense rapprochement saw the two rivals march together at the South's Pyeongchang Winter Olympics last month, with North's leader Kim Jong Un sending his sister as a special envoy to the event.
US Vice President Mike Pence said on Wednesday after talks with Japan's prime minister Shinzo Abe on the threat posed by Pyongyang.
The missile was fired into the Sea of Japan and flew for more than 900 km and reached a height of 4,000 km, which is the highest a North Korean missile has flown to date.
The Security Council will hold an emergency meeting on Wednesday to discuss the latest launch and calls from the US for more sanctions on North Korea.
The nuclear-armed North Korea test-fired a missile that could bring the entire continental United States within range.
Trump has embarked on a tour of Asia this week trying to rally regional support for curbing North Korea's nuclear weapons programme, warning that time is running out over the crisis.
Thousands of South Koreans protested Sunday against an upcoming visit by Donald Trump and called for peace as the US President begins an Asian tour.
By the close of business Friday, Trump is expected to declare that a landmark agreement curbing Iran's nuclear program is no longer in the US interest.
North Korea accused the US of exploiting the death of Otto Warmbier, the American student who was held prisoner in Pyongyang for over a year.