The four-point plan included "new U.S. -DPRK relations" as well as the North committing to "work toward complete denuclearization of the Korean Peninsula".
"Seeing the two meet gives me hope that there will be no more conflict", said a man, 85, who was watching the live broadcast of the Trump-Kim summit at Seoul Station.
However, Pentagon spokeswoman Dana White said Tuesday in a prepared statement that "the Department of Defense welcomes the positive news coming out of the summit and fully supports the ongoing, diplomatically led efforts with the Democratic People's Republic of Korea".
"President Trump and Chairman Kim Jong Un conducted a comprehensive, in-depth, and honest exchange of opinions on the issues related to the establishment of new US-DPRK relations and the building of a lasting and robust peace regime on the Korean Peninsula".
He also said he'd like to remove all 28,500 USA troops stationed in the South, although he made clear this was an option for the future, not a part of current negotiations. "We will provide additional information as it becomes available", Pentagon spokesman Lt. Col. Christopher Logan said Tuesday.
Trump has now essentially adopted the standard North Korean line, calling the military exercises a "provocative" drain of money and announcing they would stop while he continues talks with Kim, whom he repeatedly praised as a solid negotiating partner.
Joint military drills between the United States and South Korea have long aggravated Kim's regime-the North Korean leader even threatened to withdraw from the Singapore summit following a two-week annual military exercise in May incorporating roughly 100 warplanes.
One diplomatic source in Singapore said, "Tension was very high in North Korea, hence the secrecy".
According to the joint statement, both sides also agreed to recover and return remains of soldiers who were killed or missing in action during the Korean War so they can be repatriated.
Putin: Co-operation with China at unprecedented level
Yet Trump wants them there, and other than his apparently desperate desire to hang out with Putin, it's hard to imagine why. It has since partly recovered as the ruble has strengthened, reaching almost $90 billion past year .
The remarks contradicted countless previous declarations by USA political and military officials over the years that the drills are routine, defensive and absolutely critical.
"The abduction issue is a bilateral matter that Japan ultimately has to solve under its own responsibility and negotiate with Pyongyang", Abe told reporters after the Trump-Kim summit, adding that Japan will make "utmost efforts" to put the decadeslong row to rest.
"For North Korea, they got exactly what they wanted".
Mr Trump did not pledge to move towards a peace declaration or treaty, and potentially putting the 28,000-odd United States troops in South Korea on the table.
Secretary of State Mike Pompeo tweeted that the US negotiating team "delivers for America's swagger". "The objective of those exercises is to maintain the readiness of South Korean and U.S. forces to defend South Korea if necessary; they are a permanent necessity to maintain deterrence, not a bargaining chip".
The statement seemed to surprise South Korean President Moon Jae-in.
I just think that we are now we are going to start the process of denuclearization of North Korea, and I believe that he's going back and will start it virtually immediately, and he's already indicated that and you look at what he's done.