They finally left custody at 7:45 p.m., and by 8:42 p.m. they were flying home. I mean, the pat answer is - well, it's energy assistance, it's economic assistance, but it sounds as though President Trump is moving more in the direction of bigger things, bigger carrots, if you will, including normalization of political relations, a peace treaty, and there even been reports in the newspaper last week that he's considering removing ground troops - US ground troops from the Korean Peninsula.
In his latest trip, The New York Times reported, Pompeo secured the Americans' freedom Wednesday after ensuring stronger ties with North Korea in exchange for the country's promise to desert its nuclear weapons program.
Mr Trump said the venue for the talks would be announced "within three days".
"South and North Korea shared the view that the measures being initiated by North Korea are very meaningful and crucial for the denuclearization of the Korean Peninsula and agreed to carry out their respective roles and responsibilities in this regard", the two leaders wrote in a joint statement. "We issued the order to grant immediate amnesty to the detainees".
"It was a very important part of it to get the release of those Americans".
South Korean officials have also been involved in talks about the meetings.
The tweet came hours after Mr. Trump led a dramatic overnight welcome ceremony for the three Americans released by North Korea - Kim Dong Chul, Kim Hak Song, and Tony Kim.
Later on Thursday, Singapore's foreign ministry confirmed it would host the Trump-Kim summit next month.
Trump's administration has laid out a number of ambitious goals for the negotiations, which include permanent, irreversible, verifiable denuclearization of North Korea before sanctions are lifted.
In a separate interview with CBS, Pence said he also spoke with the family of Otto Warmbier, an American detainee who died a year ago shortly after his release from North Korean captivity.
The wealthy financial and shipping hub is seen as a gateway between Asia and the West and has been called the "Switzerland of Asia", in contrast to North Korea's isolated economy that its leaders now want to modernise.
Kim Dong Chul, a former Virginia resident who had reportedly run a company on North Korea's border with Russian Federation, had been sentenced in April 2016 to 10 years in prison with hard labor after being convicted of espionage.
Kim Dong-chul, a pastor in his early 60s, was detained in 2015 on spying charges, and was then sentenced to 10 years hard labour.
The freed detainees appeared exhausted but in high spirits.
It has close diplomatic and defence ties with the U.S. and yet is also familiar ground for North Korea, with which it established diplomatic relations in 1975.
But not everyone was pleased with Trump's diplomatic overtures to North Korea.
It will be the first time a sitting USA president has met with the leader of the reclusive nation. Some in Washington had expressed disappointment that Pompeo's first trip, made in secret when he was still Central Intelligence Agency director, did not win the freedom of the three captives.