The US would be "prepared to work with North Korea to achieve prosperity on the par with our South Korean friends", he told reporters on Friday.
On May 10, US President Donald Trump had tweeted: "The highly anticipated meeting between Kin Jong Un and myself will take place in Singapore on June 12th". "I think that if Kim Jong Un wants to find relief from "maximum pressure" and be welcomed back to the table of recognized global leadership, it's the only path he has".
Seoul, which shuttled between Washington and Pyongyang to set up the Trump-Kim meeting, has said Kim has genuine interest in dealing away his nuclear weapons in return for economic benefits.
Mr Pompeo returned from Pyongyang on Thursday with three American detainees who had been released by North Korea.
Last week, US intelligence said the North Koreans had started pulling cables from the tunnels at their nuclear test site - a first step toward closing them.
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. For almost seven decades, since the Korean War, the two have been in a state of hostilities, with North Korea isolated from most nations.
North and South Korea have made major strides diplomatically in recent months after communicating for the first time in roughly two years.
"We had good conversations, substantive conversations that concerned deep complicated challenges", Pompeo stated about his two conferences with the North Korean chief who is understood for assassinating rivals and relations, and operating jail camps all through his nation. "I will not just sit and talk for nothing", he said.
But he stressed that this would require a "robust verification" programme by the United States and other nations.
"We reaffirmed that our goal is to achieve the complete, verifiable and irreversible denuclearization on the Korean Peninsula", she added, promising "air-tight" coordination.
A series of USA administrations have sent envoys, both official and unofficial, to Pyongyang in the hope of stopping North Korea's provocative nuclear weapons program.
While Kang sought to assure reporters that the USA and South Korea are unified on the matter, she was slightly more moderate on the possibility of relief, saying sanctions must remain in place "until we see visible, meaningful action taken by North Korea on the denuclearization track".
But, despite the optimism of that moment, all efforts to limit North Korea's nuclear program have so far failed.