"I can not suppress my surprise at such ignorant and stupid remarks gushing out from the mouth of the USA vice-president", vice-minister of Foreign Affairs Choe Son Hui said in a statement released by the state-run KCNA news agency.
Trump is due to meet the North Korean dictator on June 12 in the Southeast Asian city-state.
A presidential Blue House official in Seoul also told reporters a North Korea security guarantee is the "only way" to relieve North Korean anxiety over complete denuclearization.
Singapore's United Nations ambassador, Burhan Gafoor, asked the Security Council committee monitoring sanctions against North Korea for a sanctions exemption for the delegation to attend the scheduled June 12 meeting as well as for "preparatory work for the summit".
North Korea had earlier refused to grant entry visas to the South Korean journalists after the North cut off high-level contact with Seoul to protest joint U.S.
The U.S. wants a "rapid" process in which North Korea's abandonment of its nuclear program is "total and complete, that won't be extended over time", Pompeo said of the agenda for the planned summit.
It follows a historic meeting between the leaders of the Koreas in April.
Pompeo says previous USA administrations had been "fooled before and we can't permit that to happen again".
South Korean journalists board a plane to leave for North Korea
That was a reference to Libya's former leader, Muammar Gaddafi, who agreed to give up nuclear weapons in 2003 and was later killed by Western-backed rebels.
But Pompeo said he could not answer directly when asked in the hearing if North Korea would be able to maintain a civilian nuclear program. When asked if there could be an incremental approach, providing incentives along the way to the North, he said, "I don't think I want to totally commit myself". On Wednesday it was escorting a group of global reporters, including an Associated Press Television crew, to witness the closure of its atomic test site.
Pompeo said that "if we can get America's interests safe and secure we are prepared to do a great deal", including security assurances for Kim.
Secretary of State Mike Pompeo says the Trump administration will walk away from talks with North Korea if the "right deal" is not on the table for negotiation.
However, based on his own discussions with the North Korean leader, Pompeo said he was hopeful that Trump could convince Kim to make a strategic decision to denuclearise.
The summit would offer a historic chance for peace between adversaries technically at war since the Korean War ended in 1953 without a peace treaty.
"That decision will ultimately be up to Chairman Kim", he said.
The president said he hoped Chinese President Xi Jinping was actually committed to the goal of denuclearizing the Korean Peninsula, calling him a "world-class poker player".
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