He left with a harsh reminder that the North Korean leader expects something in return. Pompeo characterized his talks with North Korean officials as productive, but the North's foreign ministry blasted the discussions, saying the visit - the third by the top USA diplomat since April - had been "regrettable".
"In the last few months, we displayed maximum patience and watched the USA while initiating good-will steps as many as we can", KCNA, in a statement attributed to a spokesman for North Korea's foreign ministry, said.
The statement shows that Kim is willing to test Trump's patience and not bargain away his arsenal without sufficient security guarantees.
"Are we in fact going to continue to exceed to the North Koreans' running out the clock", asks Gaffney, "even as the evidence grows that they are continuing to amass the means of threatening our country?"
On the trustworthiness issue, he said, "There will be a verification connected to the complete denuclearization".
The North Koreans have agreed to a meeting on July 12 at the DMZ (demilitarized zone), which is a border barrier that divides the Korean Peninsula roughly in half, to talk about returning the remains of United States servicemen killed in action during the Korean War. The pledge to "work toward complete denuclearisation of the Korean Peninsula" was listed third.
China is North Korea's biggest trading partner.
The statement included a personal appeal to the United States president: "We still cherish our good faith in President Trump", it said.
And just hours after Pompeo arrived in Tokyo from Pyongyang on Saturday, the North blasted the new talks, saying they had been "regrettable".
"We agreed to the denuclearization of North Korea". Although it is unclear when exactly he made the trip, it appeared to have been during Pompeo's visit to the reclusive country.
North Korea has furiously reacted to Seoul and Washington taking issue with its human rights situation, viewing it as a threat to its sovereignty. So much for China working with us - but we had to give it a try!
The North Korean leader has yet to respond to the invitation, but last month Kim sent a Korean Workers' Party delegation to the Russian Far East, possibly in anticipation of closer ties with Moscow.
"Just now you said that some people in the U.S. associated the inconsistency of the statements made by the DPRK and the United States after their high-level meeting with China's role in the Korean Peninsula issue", she noted.
Trump later added on Twitter that the decision would "save a fortune".
Officials from the two sides would meet next week in Panmunjom, on the border between the two Koreas, to discuss the return of the remains of roughly 7,000 US soldiers missing since the 1950-1953 Korean War.
North Korea did not take kindly to the content of Pompeo's visit, which covered what the US definition of denuclearization is and what would be needed for sanctions relief.