South Korean President Moon Jae-in said Thursday he is ready to meet North Korean leader Kim Jong-un under the "right conditions", stressing Seoul does not wish to force a regime change or unification.
While the threat of North Korea's weapons has largely been reserved for the Pacific and Asia, on Tuesday, a test launch proved its missiles could reach the United States.
As it turns out, North Korea was right about the missile test, and America wasn't happy with its actions and made a decision to return the favor with a supreme show of force.
In response to the launch, US and South Korean troops fired ballistic missiles in a simulated attack on the North's leadership, in what was described "as a strong message of warning".
South Korea and the United States have insisted the shield is designed exclusively to shoot down missiles from the North.
South Korea's Yonhap news agency said the bombers then flew west, hugging the heavily fortified Demilitarised Zone (DMZ) border between the two Koreas, before leaving South Korean airspace.
Asked by a reporter at the trilateral meeting - part of which was open to the media - whether he has given up on Chinese President Xi Jinping pressuring North Korea to change its course, Trump said, "Never give up".
"For a period of time, China-South Korea relations have been facing difficulties, and we do not want to see that", he was quoted as saying.
The drill follows a joint artillery and missile exercise by South Korean and United States forces a day after the North's ICBM test.
Trump and Abe committed, the White House said, "to redoubling their efforts to bring all nations together to show North Korea that there are consequences for its threatening and unlawful actions".
"The North Korea nuclear problem is very serious".
The B-1B bombers dropped inert weapons to practice their attack capabilities.
North Korea "increasingly poses a new level of threat to worldwide peace and security", Prime Minister Shinzo Abe, European Council President Donald Tusk and European Commission President Jean-Claude Juncker said in a joint statement issued after a meeting in Brussels.