It has been threatened by Pyongyang before, but tensions are heightened after reports that the isolated nation has been able to make a nuclear warhead to fit on an intercontinental ballistic missile (ICBM) that could theoretically reach the US.
But the two US secretaries also described the regime in Pyongyang as "hostile".
"The United States, which was the first to bring numerous strategic nuclear equipment near us, should first make the right decision and show through actions if they wish to ease tensions on the Korean peninsula and prevent a unsafe military clash", Kim was cited as saying in a report by KCNA.
The two leaders also reiterated a commitment to the denuclearization of the Korean Peninsula. China announced on Tuesday it will phase out supplying North Korea with crucial coal.
"I am very confident in our military partners our federal partners our law enforcement partners".
Guam and the US air and naval forces that are based there have been under alert since it was named by North Korea as a potential demonstration target, with the regime threatening to fire missiles into the sea near the island that's home to some 160,000 people.
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Earlier this year, China suspended coal imports from North Korea to increase pressure over the nuclear issue. Dunford's visit came a day ahead of North Korea's annual "Liberation Day" from Japanese occupation.
"(North Korean leader) Kim Jong-Un is a bully with some very strong weapons... a bully has to be countered very strongly".
"I have no response to his decisions at all at this time", Tillerson said, when asked about Kim's decision to hold off.
"If they shoot at the United States, I'm assuming they've hit the United States ..." "I need a certain amount of ambiguity because I'm not going to tell them what I'm going to do in each case", Mattis said.
"If he utters one [overt] threat ... or if he does anything with respect to Guam, he will truly regret it, and he will regret it fast", Trump said Friday. "It's a hard challenge, and I hope the president, which he is not now [doing], would be very careful about the language he uses", Arizona Sen. "Life just goes on and we have trust and confidence in God and our military", Ms McDonald said.
Dunford is now heading to Beijing to meet China's military leaders. "I'd say nearly ecstatic that Kim Jong Un has backed off".