Kim smiled as he took a selfie with Singapore's Foreign Minister Vivian Balakrishnan at the scenic waterfront Gardens by the Bay.
Hours earlier, Kim had arrived in a jet and was received by Balakrishnan before heading to St Regis Hotel.
The secretary of state has traveled to Pyongyang twice to meet with Kim and will participate in the Singapore talks.
Trump made the remarks at a working lunch with Singapore Prime Minister Lee Hsien Loong at the presidential palace Istana after their bilateral meeting during which the two leaders discussed everything from the summit preparations to the US' tariff threats. "This says something about Singapore's relations with America and North Korea, and also our standing in the worldwide community".
Mr Kim said to Mr Lee: "The entire world is focusing on the historic summit between the DPRK (Democratic People's Republic of Korea) and the USA, and thanks to your honest efforts. we were able to complete the preparations for the historic summit, and I would like to thank you for that".
Enlarge this image
Kim began the year by declaring to the world that "a nuclear button is always on the desk of my office", which was widely interpreted as an allusion to his personal control over North Korea's nuclear arsenal.
Pompeo has maintained that complete, verifiable and irreversible denuclearization is the "only outcome" acceptable to the US and that the Trump administration hopes ultimately to reach an agreement with the North Koreans that it can submit to Congress "so that when administrations do change, as they inevitably do, and this one will ... that Chairman Kim will have comfort that American policy will continue down the same path".
In return, Kim, said to be in his mid-thirties, called Trump "mentally deranged" and a "dotard". Kim Yong Chol, the North Korean leader's right-hand man, and Vice Minister of Foreign Affairs Choe Son Hui were also included in the entourage. The meeting was initially meant to rid North Korea of its nuclear weapons, but the talks have been portrayed by Mr. Trump in recent days more as a get-to-know-you session.
"The discussions between the United States and North Korea are ongoing and have moved more quickly than expected", the White House said in a statement.
"I feel that Kim Jong-Un wants to do something great for his people".
Former Obama administration officials told NBC News that it is appropriate for the U.S.to not bring up human rights at the summit, but that the Trump administration should pursue the issue afterward.
Magogo leads top brass FUFA delegation to 68th FIFA Congress in Russian Federation
FIFA Congress will therefore determine whether to award the right to host the 2026 FIFA World Cup to one of the two candidates. Fans shouted "Austral-iya" several times during training and also "Aussie, Aussie, Aussie, go, go, go".
Dontnod Announces Free Title The Awesome Adventures of Captain Spirit
The episode is a self-contained narrative experience allowing players to discover plenty of hidden secrets with each play-through. You don't have to have owned any other Life Is Strange games; you don't have to pre-order the sequel - you can just download it.
Liverpool unlikely to move for Alisson
Liverpool have also made an approach to Atletico Madrid but were put off by his asking price - also £80m. He is likely to be Brazil's No 1 when they begin their World Cup campaign against Switzerland on Sunday.