"The ultimate objective we seek from diplomacy with North Korea has not changed - the complete, verifiable and irreversible de-nuclearization of the Korea peninsula is only outcome that the United States will accept", declared Pompeo.
North Korean vice minister of foreign affairs Choi Sun-hee (third from left) arrives at the Ritz Carlton Hotel in Singapore to continue talks with the American ambassador to the Philippines, Sung Kim.
The country has diplomatic ties with both North Korea and the US.
But they were soon smiling and holding each other by the arm, before Trump guided Kim to the library where they held a meeting with only their interpreters.
Karen Leong, Managing Director of Singapore-headquartered Influence Solutions, said Trump did not display any of the hostility seen at the G7 summit in Canada last week, during which the US leader blasted allies including the European Union and Canadian Prime Minister Justin Trudeau over trade.
Mr Lee said in response: "Thank you for coming to Singapore".
Mr Trump had said on Saturday he would know within a minute of meeting Mr Kim whether he would reach a deal.
Rodman also goes back years with Mr Trump and appeared on his Celebrity Apprentice show.
Asked if he would meet Mr Kim in Singapore, he said he thought the North Korean leader had "bigger things to worry about", but added that every time he had met with Mr Kim, it had been a surprise.
He added that Singapore had been following developments on the Korean peninsula for a very long time. But there are major doubts, given how hard it has been for Kim to build his program and given that the weapons are seen as the major guarantee to his holding onto unchecked power.
"I think that I brought awareness to a lot of things around the world and I think North Korea has given a lot of people the opportunity to do this conference now and I hope it's a success".
The seemingly warm exchange between Mr. Trump and Mr. Kim on Tuesday was particularly striking, coming just days after a public clash between the USA president and Prime Minister Justin Trudeau. Mr. Trump "gets along so well with ruthless, brutal dictators, but you have this acrimonious, hostile relationship with the Canadian Prime Minister?"
And it could, Mr Trump has made clear, be their last shot at working together towards some promise of peace.
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Mr Lee is slated to meet separately with each leader at the Istana in the run-up to the summit.