Before they parted ways, he promised that the pair would meet many times and, when asked if he'd extend an invitation for his North Korean counterpart to visit the White House, he said: "Absolutely I will". "I think it's gonna be really successful and I think we will have a terrific relationship I have no doubt".
The two clasped hands for a long while Tuesday as they posed for photos in front of a row of US and North Korean flags.
He thanked the summit hosts, and then lauded Kim for an "honest, direct" meeting and for taking the "first bold new step" toward peace for his people.
"The senior officials of the party and government sincerely wished Kim Jong Un good successes in the first summit meeting and talks between the DPRK and the United States and his safe return", the KCNA said.
"Today we had a historic meeting and chose to leave the past behind", Kim said, speaking through a translator.
"This guy wants to be around the world, he wants to come to America, he wants to enjoy his life, he wants his people to enjoy this life", Rodman said, adding that Mr Kim is "not a dumb man".
The Trump administration seeks the complete, verifiable and irreversible dismantling of the North's nuclear weapons program.
Trump and Kim will first sit down for a one-on-one meeting accompanied only by personal translators.
The North Korean leader reportedly arrived at Changi Airport in Singapore Sunday afternoon, where he was met by the Minister for Foreign Affairs Vivian Balakrishnan.
Rodman has struck up an unlikely friendship with the basketball loving North Korean leader and made five trips to Pyongyang since Kim took power.
Pompeo spoke as top officials from the two countries continued negotiations in Singapore ahead of the meeting between Trump and Kim.
Mr Trump said earlier the highly anticipated talks represent a "one-time shot" at peace. Dozens of cameras snapped photos as the two men first came together in front of a background of US and North Korean flags.
He expressed hope that Mr Trump and Mr Kim would be able to make progress.
Kim has rejected calls to unilaterally give up his weapons in return for economic aid, and instead has proposed a step-by-step denuclearization process.
And until denuclearisation takes place, sanctions against North Korea would remain in place, he stressed.
He said this was again a "subtle gesture" from Trump to gain sympathy, with gentle touches to the North Korean's shoulder and back.
Yet the top USA diplomat added Trump is ready to offer "unique" guarantees to ease the regime's concerns about giving up a nuclear arsenal that provides a deterrent against foreign adversaries while also serving as a key point of national pride.