According to Cayetano, North Korea's missile launches "not only undermine efforts towards a peaceful resolution of issues in the Korean Peninsula but also exacerbate an already tense situation there".
Moon denounced the North Korean launch, which took place Friday morning, local time.
The UN Security Council condemned "the highly provocative launch of a ballistic missile" by North Korea and expressed commitment to a peaceful, diplomatic and political solution to the crisis. Since then, Pyongyang has conducted its most powerful nuclear test, threatened to fire missiles into the waters around the United States pacific island territory of Guam and launched two missiles over Japan.
North Korean leader Kim Jong Un has vowed to achieve the "final goal" of "equilibrium of force" with the United States, to make Washington "dare not talk about" military action against the country.
"I'd like to appeal to the world, together with Prime Minister Modi, that we need to have North Korea change its policy through the thorough implementation of the newly adopted Security Council resolution by the global community".
The UNSC referred to the latest launch as a "manifest violation" of Security Council resolutions that comes less than two weeks after the DPRK conducted a test of a nuclear device on September 3, and only three days after the Security Council unanimously adopted fresh sanctions against the country.
Japanese Prime Minister Shinzo Abe on Thursday called for strict enforcement of a United Nations resolution against North Korea over its latest nuclear test, saying the world must force a change in Pyongyang's policies.