The DNI also said Kim and other North Korean leaders "ultimately view nuclear weapons as critical to regime survival".
Pelosi said Trump's comments were "stunning".
"Through the concert, the friendly affection preciously cherished between the people of [North Korea] and China was solidified, and contributed to a new flowering in the developing of China-[North Korea] relations", state media said.
Trump withdrew from the agreement May 8, 2018, and vowed to place sanctions on Iran because of the agreement's "lack of perpetual ban on a nuclear program and how it fails to address the Islamic Republic's malign activity across the Middle East", reported The Daily Caller.
US intelligence chiefs presented the annual Worldwide Threat Assessment report to the US Senate earlier this week, which assessed that North Korea is "unlikely to give up" its weapons programme. "I just tell you that we are doing really well", he said, before turning his attention to the increase in military spending on his watch.
"Most of you know where that location is".
He also said that "a tremendous amount of good things" were happening in the US-led fight against ISIS.
Still, he outlined a long list of demands North Korea would eventually need to meet, such as allowing expert access and monitoring mechanisms of nuclear and missile sites.
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Mr Biegun painted an upbeat picture at ending decades of hostility despite repeated failures in the past, saying that Mr Trump "is unconstrained by the assumptions of his predecessors".
If North Korea follows through, "the United States, will, in return, exceed anything previously thought possible", Biegun was to say.
Trump highlighted the points of contention between him and the intelligence community, he stressed that the US has made progress in respect to ISIS, North Korea, and talks in Afghanistan.
"We must reach agreement on expert access and monitoring mechanisms of key sites to global standards, and ultimately ensure the removal or destruction of stockpiles of fissile material, weapons, missiles, launchers and other weapons of mass destruction", Biegun said.
But the U.S. needed to agree on "expert access and monitoring mechanisms" of North Korea's nuclear programme first, he said.
Biegun said Kim committed, during an October visit by U.S. Secretary of State Mike Pompeo, to the dismantling and destruction of plutonium and uranium enrichment facilities. "We are not seeking to topple the North Korean regime".
Adam Schiff, who heads the intelligence committee in the House of Representatives, said Trump's dismissal of his officials' advice was "deeply unsafe".
"Before the process of denuclearization can be final, we must have a complete understanding of the full extent of the North Korean WMD and missile programs through a comprehensive declaration", Biegun said during a speech at Stanford University, referring to weapons of mass destruction.
Compounding the "who're you going to believe, me or your lying eyes" routine, Trump didn't even bother to delete the tweets where he called "the Intelligence people" "wrong" and "passive" concerning their Iran assessment and told them to "go back to school".