Thousands of US military personnel remain stationed on the island.
The USS Michigan nuclear-powered submarine enters the naval base of Busan, South Korea, on October 13, 2017.
Further, the US nuclear-powered aircraft carrier USS Ronald Reagan has been undertaking manoeuvres nearby.
Six US planes - including a "nuclear sniffer" and two Air Force B-1B Lancer bombers - took part in the military exercise on Tuesday night.
After US B-1B jets buzzed North Korea and practiced a bombing run, Pyongyang responded by saying Kim Jong Un may finally decide to launch missiles towards Guam.
"We have already warned on several occasions to take self-defense measures, including a salvo of missiles in waters close to the USA territory of Guam", says a commentary from the North Korean agency KCNA, which accuses Washington of "doing constant military maneuvers and actions in sensitive areas "near the Korean peninsula".
"The US military action hardens our determination that the US should be tamed with fire and lets us take our hand closer to the "trigger" for taking the toughest countermeasure".
Although both South Korea and the United States insist next week's drill is defensive in nature, North Korea considers such war games rehearsals for invasion. USA and South Korean warplanes also will join the exercise. "Japan had better consider the DPRK's warning carefully".
The 10-day drill, which involves the aircraft carrier Ronald Reagan, is set to begin on Monday in waters east and west of South Korea.
The North Korean state agency issued this comment on the same day that South Korean and U.S. naval forces announced they will conduct high-profile joint maneuvers in waters off the Korean peninsula next week to counter the growing threat of Pyongyang.
Now the 560ft long USS Michigan has arrived in the region amid soaring tensions.
The lesser carried Tomahawk cruise missile that were used by the U.S.in the April attack on Syria's Shayrat airbase.