"I have confidence that Kim Jong Un will honor the contract we signed &, even more importantly, our handshake. We agreed to the denuclearization of North Korea," Trump said in a Twitter message.
READ MORE: Singapore Authorities Reveal Costs for Historic Trump-Kim Summit
Pompeo said North Korea confirmed its commitment to denuclearization during his two days of meetings.
However, the North Korean Ministry of Foreign Affairs said on Saturday that the talks with Pompeo in Pyongyang were "regrettable" and the statement noted the US "gangster-like demand for denuclearization."
Trump also expressed hope in his Twitter message that China was not interfering in the agreement the United States reached with North Korea due to the current US-China trade tensions.
US President Donald Trump and his North Korean counterpart Kim Jong-un met at the Singapore summit in June. This was the first meeting between the sitting leaders of the two countries. During the meeting, they discussed the denuclearization of the Korean Peninsula and security guarantees for North Korea.