In a joint statement, US and South Korea said that 'they remain firmly committed to defending the hard-fought peace on the Korean Peninsula'.
In a statement, Pompeo said that the nuclear talks between the two countries would lead to long-lasting peace and stability on the Korean Peninsula.
The current North Korea-US talks have been stuck in an impasse due to their differences in the scale of denuclearization, US sanctions, and whether to issue a war-ending declaration.
It is the first time US secretary Mike Pompeo has visited North Korea since a summit between Donald Trump and Kim Jong-un in Singapore.
Friday's response by North Korean Vice Foreign Minister was more conciliatory, specifically praising Trump's efforts for a meet, something which none of his predecessors have ever tried before.
The decision to close the Punggye-ri nuclear test site had generally been seen as a welcome gesture by Kim to set a positive tone ahead of the summit with Trump, which was recentcaly called off.
It was on March 8 that a delegation visiting from South Korea came to the White House to deliver a message from Kim Jong Un to Trump
Pompeo made the comments after attending a White House meeting between President Donald Trump and the visiting South Korean President Moon Jae-in.
North Korea threatened to cancel the summit between Kim Jong Un and US President Trump if Washington presses ahead with its key demand for Pyongyang to unilaterally give up its nuclear arsenal.
The remarks come ahead of an unprecedented summit between Kim and Trump in Singapore on June 12 where North Korea's nuclear and missile programmes are expected to dominate the agenda.
Japan's prime minister on Friday welcomed the surprise announcement of a summit between US President Donald Trump and North Korea's Kim Jong Un by the end of May.
Following a historic announcement at the White House, US President Donald Trump and North Korean leader Kim Jong Un are poised for a face-to-face meeting.
South Korean official Chung Eui-yong announced that Kim Jong Un and Trump will meet by May to secure a deal to remove nuclear weapons from the Korean peninsula.
Trump agreed to meet with the North Korean leader to negotiate an end to Pyongyang's nuclear weapons program. No American president has ever met with a North Korea leader.
China's foreign minister urged the United States and North Korea Thursday to start talks as soon as possible after Pyongyang and Seoul agreed to hold a landmark summit on the nuclear crisis.