While greeting North Korean dignitaries after his initial handshake with Mr Kim, Mr Trump proceeded down the line shaking hands, the video shows. "It is responsible for the starvation deaths of millions of North Koreans, and for the imprisonment, torture, killing, and oppression of countless more".
He added that Mr Trump and Mr Kim had a "blunt conversation" about the changes needed for North Korea to rejoin the world community.
The official Korean Central News Agency (KCNA) said Trump offered to lift sanctions against it as relations improve, indicating a phased-in approach where concessions would be provided at various stages of the denuclearization process.
The announcement apparently caught United States allies including Seoul as well as the USA military off guard.
Before taking office people were assuming that we were going to War with North Korea. While Trump supporters will tout it as a major achievement, his detractors will find that much of it is a repetition of earlier communiques signed by the two countries under former presidents Clinton, Bush and Obama that didn't produce any results.
Trump frequently salutes people he sees in a military uniform, and he saluted Singapore military officials while visiting there for the summit with Kim.
North Korean state media reported on Wednesday that Kim and Trump had recognised the principle of "step-by-step and simultaneous action" to achieve peace and denuclearisation.More news: Trump adviser says there’s a ‘special place in hell’ for Canadian leader
The meeting was originally set to take place in May, but they failed to set a date that month due to Pyongyang's protest against the annual Max Thunder air force exercise between Seoul and Washington. So we will never be able to fully satisfy North Korea short of giving up all of our nuclear weapons.
United States officials said it was unclear what types of training involving US and South Korean troops might cross into Trump's now forbidden zone of "war games".
Such a withdrawal would be problematic for Japan, to which the United States has long provided security assurances, while it would be welcomed by China, which wants to expand its influence in the region. Moon met with Pompeo to discuss the summit in Singapore before the secretary of state met with his diplomatic counterparts. But for the rest of us who are watching and know the history of North Korea, we should be skeptical.
White House press secretary Sarah Sanders said Thursday that the president is not downplaying the regime's human rights abuses, despite his comments to Fox News, and says the president raised these issues directly with the North Korean leader.
The talks, held in the border village of Panmunjom in the demilitarised zone (DMZ), followed on from an inter-Korean summit in April at which leaders of the two Koreas had agreed to defuse tensions and cease "all hostile acts".
There was news from the summit, Colbert said.