President Trump, Kim Jong Un to meet in Singapore on June 12

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But the island nation was favoured by most of his advisers.

The date and location of the summit are believed to have been finalised during US Secretary of State Mike Pompeo's second trip to North Korea earlier this week to firm up Trump's agenda for his meeting with Kim.

The meeting between the two world leaders will be hosted on June 12 in Singapore, neutral territory with infrastructure favoured by U.S. and North Korean officials.

Hours later, Trump tweeted, "On behalf of the American people, WELCOME HOME!"

Welcoming the three Americans at a military base outside Washington early Thursday, Trump said of Kim, "I really think he wants to do something". The former detainees - Kim Dong Chul, Kim Hak Song and Tony Kim - had been released Wednesday at the end of Pompeo's visit to North Korea.

The freed prisoners appeared exhausted but in excellent spirits, flashing peace signs and waving their arms as they emerged from the aircraft.

Singapore was seen as the likely venue after Trump ruled out the DMZ on Wednesday. They later gave the president a round of applause.

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Trump made the announcement via Twitter on Thursday.

The talks, now scheduled for June 12, will mark the first time a sitting US president has met with the leader of North Korea.

Nauert said Pompeo conveyed a message to Kim Jong Un that he has the opportunity to bring "economic change" and an open society to his country.

Located at the southern tip of Malaysia, the prosperous city state is a regional Southeast Asia hub whose free enterprise philosophy welcomes trading partners from everywhere. Prior to being arrested in North Korea, he and his wife had been living in China, where they were also doing missionary work.

Singapore's government also has a history of putting together high-profile diplomatic events at short notice, notably hosting Chinese President Xi Jinping's historic 2015 meeting with then Taiwanese counterpart Ma Ying-jeou.

USA service members on the tarmac burst into applause and cheers.

During his remarks at the air base, Trump told reporters the prisoners' release would not change his approach to dealing with Kim. We ask that you continue to pray for the people of North Korea and for the release of all who are still being held. The aircraft is parked before a large American flag suspended between two fire trucks. "Sending these three Americans home before any concessions have been offered I think is a testament to the president's policy of peace through strength", Pence told ABC News. The men were taken to Walter Reed National Military Medical Center for evaluation before being reunited with their families.

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Trump said the meeting would be a chance to further peace talks and efforts to denuclearise the Korean Peninsula, merely months after threatening Kim with "fire and fury". "God Bless America, the greatest nation in the world".

Mr Trump and Mr Kim engaged in an exchange of rhetoric a year ago over North Korea's development of nuclear missiles capable of reaching the United States in defiance of UN Security Council resolutions.

Trump has credited a U.S. "maximum pressure" campaign for drawing North Korea to the negotiating table and vowed to keep economic sanctions in place until Pyongyang takes concrete steps to denuclearise.

But former spy chief Kim Yong Chul, director of North Korea's United Front Department, said in a toast to Pompeo over lunch in Pyongyang this week: "We have perfected our nuclear capability".

King praised the release of three American hostages from North Korea.

In a separate interview with CBS, Pence said he also spoke with the family of Otto Warmbier, an American detainee who died previous year shortly after his release from North Korean captivity.

The two men -whose countries are still technically at war - exchanged fiery rhetoric previous year over North Korea's attempts to build a nuclear weapon that could reach the United States.

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