Prior to the summit, Kim suspended nuclear and missile testing in April, and he agreed to close a major weapons testing site.
"North Korea is a small and weak country surrounded by big powers and that has made North Koreans paranoid about their own national security and develop nuclear weapons, " said Yoon, speaking on Bloomberg Television.
With the joint statement under his belt, Kim can now count on China and Russian Federation to argue on his behalf to start easing economic sanctions on North Korea. At his news conference, Trump said the war games were expensive, provocative, and inappropriate.
"After the crisis we went through with our interlocutors when Otto came back in the condition he did ... the North Koreans sent to us the de-escalation proposition that we shared with the White House last summer and that was a part of a lot of these efforts to reach out and to try and de-escalate".
Trump sidestepped his public praise for an autocrat whose people have been oppressed for decades.
Trump had been scheduled to fly back to Washington tomorrow morning after spending today with Kim in Singapore, but on the eve of the summit, he altered his schedule, opting to return at about 8pm today after a full day of meetings with Kim - nearly 15 hours earlier than previously anticipated.
The Singapore accord largely amounts to an agreement to continue discussions, echoing previous public statements and commitments. But the North has long sought an end to the U.S. military presence in the South, where Washington has around 28,000 troops stationed to protect it from its neighbour.
Trump downplayed Beijing's role in the denuclearization process.
The joint statement itself is a list of very basic and aspirational goals, signaling that the the meeting and the agreement merely mark the beginning of long and complicated negotiations between the United States and Kim's brutal dictatorship.
Trump trusts that Kim is willing to give up nuclear weapons in order to reintegrate his country and his people with the rest of the world and to kickstart North Korea's economy, which has always been plagued with sanctions and trade penalties.
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"Well, you have a different administration, you have a different president, you have a different secretary of state, " Trump said Tuesday, when asked why he thought this attempt on North Korea would turn out differently. This has always been a point of contention for the North Koreans, especially as the exercises have expanded to include offensive drills, but it raises the question of how this concession fits into a larger process.
Kim and Trump are presented as the central figures in the trailer, with the chance to remake the world and change history.
After meeting privately and with aides, Trump and Kim moved into the luncheon at a long flower-bedecked table. As they entered, Trump injected some levity to the day's extraordinary events, saying: "Getting a good picture everybody?" So we look nice and handsome and thin?
In the run-up to Tuesday's historic face-to-face with Kim, Trump had appeared unconcerned about the implications of feting an authoritarian leader accused by the US of ordering the public assassination of his half brother with a nerve agent, executing his uncle by firing squad and presiding over a notorious gulag estimated to hold 80,000 to 120,000 political prisoners.
But the interpreter has some experience of Trump already, having served in talks between Kim's right-hand man Kim Yong-chol and Trump at the White House recently. Kim has been accused of horrific rights abuses against his people.
Trump's comments Tuesday were a far cry from his speech to the U.N.in September.
Giving voice to the anticipation felt around the world as the meeting opened, South Korean President Moon Jae-in said Tuesday he "hardly slept" before the summit. That could constrain the U.S.'s ability deploy its nuclear-capable military assets such as bombers in the region. Trump left that summit early and, as he flew to Singapore, tweeted that he was yanking the USA out of the group's traditional closing statement.
Trump declared he and Kim had developed "a very special bond". He developed a relationship of sorts with the dictator, despite much criticism that he was being used for PR by the Kim regime and that he was, at best, showing kindness to a murderous autocrat, and, at worst, being developed as a North Korea intelligence asset. President Trump committed to provide security guarantees to the DPRK, and Chairman Kim Jong Un reaffirmed his firm and unwavering commitment to complete denuclearisation of the Korean Peninsula. "It's your shame", said one user @huangyonghua.
The North has faced crippling diplomatic and economic sanctions for years as it has advanced development of its nuclear and ballistic missile programs. Instead of months or years of low-level talks culminating in a landmark accord, Trump agreed to a face-to-face meeting with Kim at the outset, before either side had even agreed on a broad definition of denuclearization.