It was Kim Jong Un's second weapons test in about a week after months of stalled talks with the U.S.
The launches followed statements of displeasure by top North Korean officials over the slow pace of nuclear negotiations.
The meeting on Sunday might "only be a handshake," said Trump. "But that's okay; a handshake means a lot."
"Some of you will join the fight on the Korean Peninsula ... where North Korea continues to threaten the peace," the vice president said.
Pyongyang's statement raises further doubts on whether leader Kim Jong Un will ever relinquish his arsenal.
South Korean President Moon Jae-in began his third summit with North Korean leader Kim Jong Un.
Operation Ulchi Freedom Guardian has reportedly been suspended after Trump's pledge to end "war games."
He also praised North Korea's state-run media and said it was kinder than Fox News.
America's regional allies? Not so much.
Here's what North Koreans are being told about the Singapore summit.