The Koreas' rival leaders expressed hope for improved relations, which plummeted amid a freeze in nuclear negotiations and North Korea’s accelerating weapons development.
Pyongyang said there was nothing to be gained "simply by maintaining personal relations" between Kim Jong Un and Donald Trump.
A former North Korean nuclear envoy said this month the country had been “deceived by the U.S,” calling several failed negotiations “lost time.”
Officials from Pyongyang and Washington failed to come to an agreement during a meeting in Sweden.
A senior North Korean official skewered the secretary of state on Saturday for his "thoughtless" comments and warned the U.S. to not "test" Pyongyang's patience.
North Korea said Leader Kim Jong Un supervised a live-fire demonstration of newly developed, short-range ballistic missiles.
"You got to be honest about what it means to lead a country. It means killing people," the Fox News host said.
Biden has accused President Donald Trump of cozying up to "dictators and tyrants" like Kim Jong Un and Russian President Vladimir Putin.
National Security adviser John Bolton confirmed the U.S. signed a deal to give North Korea $2 million for the release of imprisoned U.S. student Otto Warmbier, but noted that the U.S. broke the deal and no money was paid.
Despite denuclearization negotiations with the Trump administration, researchers spotted maintenance and infrastructure improvements across at least 13 sites.