Pompeo said the United States would remain on board to help develop the North's economy, which has been devastated by its own mismanagement and crippling worldwide sanctions.
Pompeo and Kang were due to give a joint news conference at the State Department later Friday.
"If Chairman Kim chooses the right path, there is a future brimming with peace and prosperity for the North Korean people", said Pompeo, who has led two trips to Pyongyang this year to prepare for the summit. After decades of hostility and threats of nuclear attacks, these new developments between US, North Korea and South Korea are groundbreaking, and hint at finally achieving some hope of reconciliation in the Korean peninsula, after almost seventy years of enmity.
The U.S. would even help the North Korean economy if it takes "bold action to quickly denuclearize", the top U.S. diplomat added. Later that year, in six-party talks, including China, Russia, the United States, Japan, and South Korea, Pyongyang committed to abandoning all nuclear weapons and nuclear programs. For Seoul, restoring peace is the utmost priority at the present scenario than "complete denuclearisation".
Trump on Wednesday ruled out the Demilitarized Zone (DMZ) separating the DPRK and South Korea.
Kim believes his bomb and missile tests have propelled North Korea into the ranks of nuclear states.
Kim's regime also carried out missile tests that convinced USA intelligence officials, including Pompeo in his former role as CIA chief, that North Korea could threaten U.S. cities.
"We very much hope to see further steps, more concrete steps toward denuclearization at the U.S". When Trump moved into the White House, he promised a radical platform that could have reshaped U.S. foreign and trade policy more radically than at any point since the beginning of the Cold War, the time that Harry Truman helped build a consensus around United States global leadership.
Meantime, Kim has already milked huge benefits from Trump's agreement to meet him which gives him recognition as a major global player. When Pompeo went to Pyongyang to fetch the U.S. prisoners and finalise arrangements for the summit, Kim Yong-chol, the vice-chairman of the Workers' party central committee, told him "we have perfected our nuclear capability" while insisting that the achievement was "not the result of sanctions that have been imposed from outside". They also talked about Mr. Pompeo's visit to Pyongyang and the meeting between the leaders of North and South Korea last month.
A face-to-face meeting with Kim is considered to be a significant move, particularly because just two days into 2018, Trump did what he appears to the best at -ridicule Kim via Twitter.
The city is "a great location" for the summit, said Tom Plant, who specializes in nuclear and proliferation issues at London's Royal United Services Institute.
North Korea has expressed support for a nuclear-free Korean Peninsula, seeking assurances the U.S. won't deploy its own arms there either.