Pompeo also said that there would be a meeting next week about the repatriation of remains of American soldiers killed in the Korean War.
While Mr Pompeo on Saturday touted "progress on nearly all of the central issues", the North's Foreign Ministry hours later slammed the United States for its "deeply regrettable" attitude in making "unilateral and gangster-like" demands.
But earlier, in Tokyo, Pompeo said sanctions will remain in place on North Korea "until final, fully verified denuclearization as agreed to by Chairman Kim occurs".
"We had expected that the USA side would offer constructive measures that would help build trust based on the spirit of the leaders" summit ... we were also thinking about providing reciprocal measures, ' the statement said. "But expectation and hope of ours were so naive as to be foolish", read the statement.
"The miracle could be your miracle", Pompeo said of North Korea and its leader.
Pompeo wanted to agree on at least an initial list of nuclear sites and an inventory that could be checked against the available intelligence, USA intelligence officials told Reuters earlier.
During a day and a half of talks in Pyongyang, Pompeo had sought to hammer out details on how to dismantle North Korea's nuclear programs, including a timeline.
North Korea's accusation that Pompeo had made "gangster-like" demands, which came after two days of talks that began in Pyongyang on Friday, contradicted Pompeo's comments on Saturday that he had made progress on "almost all of the central issues".
"We talked about what the North Koreans are continuing to do and how it's the case that we can get our arms around achieving what Chairman Kim and President Trump both agreed to, which is the complete denuclearisation of North Korea". The countries also agreed to create working groups that will be overseen by Sung Kim, the USA ambassador to the Philippines who has handled some lower-level discussions, to work out what State Department spokeswoman called the "nitty gritty details" of future talks.
It dismissed Trump's unilateral order to suspend joint United States and South Korean war games as a cosmetic and "highly reversible" measure and criticised United States negotiators who "never mentioned" the subject of bringing the 1953 Korean War to a formal end with a peace treaty.
'If you make the Americans fight for every inch, the Americans will start measuring progress in inches - and will wind up paying by the inch. "If you don't want to have a nuclear-armed North Korea, go have a war with them".
Pompeo, who spoke with Trump, national security adviser John Bolton and White House chief of staff John Kelly by secure phone before starting Saturday's session, replied that he "slept just fine".
But his attitude was apparently not shared by his North Korean counterparts. He stressed there was still more work to be done in other areas, much of which would be done by working groups that the two sides had set up to deal with specific issues.
He simply said that a good deal of time was devoted to discussing that and the declaration of Pyongyang's nuclear and missile facilities.
And in central Colorado's Park County, crews encircled a third of a spotty fire that forced the Buffalo Creek Wilderness to close. In Colorado, firefighters took advantage of occasional rainstorms to extend their containment lines at several large wildfires.
The global community had expected sanctions waivers for some countries, a tactic used in the Obama era to avoid supply shocks. Iran's OPEC governor Hossein Kazempour Ardebili speaks to journalists at a news conference in Tehran, Iran March 7, 2005.
While on the statue, she lay by the bottom edge of the statue's robe, walked around and sat perched against the national monument. So far, it is unclear whether the woman who climbed the massive statue was involved in the protest, but many are assuming so.
He makes it look easy, he has so many options, so as he gets older maybe if he loses half a step, it doesn't change how he plays. The third set was one-way traffic as Federer killed the contest with a ferocious forehand after 90 minutes of brilliance.
The veteran enjoyed a resurgence with the New Orleans Pelicans last season and played some of his best basketball in years. What made James' move to Hollywood surprising is that it seemed to have come without a carefully orchestrated plan.
But it is still unclear how he will implement them all. "There was respectful treatment and our representatives will speak more". Throughout his election campaign, Obrador has been openly critical of President Trump and his proposed border wall.
Belgium's high scorers take on Brazil's miserly defence
The Belgium victor produced a pre-tournament bracket on the entire World Cup knockout stages three days before the opening match. France have always been a footballing stronghold but as we have seen in this World Cup , reputation precedes determination.
Woman Poisoned With Nerve Agent in England Dies
Sergei Skripal and his daughter, Yulia, almost died of exposure to Novichok left on the front doorstep of Sergei's home in March. But, they say, "it is important that the investigation is led by the evidence available and the facts alone".
Tropical Depression forms in the Atlantic
This system appears to be less organized, the center said , and the chances for a tropical depression to form are diminishing. During an El Niño, strong upper-level winds roar across the Caribbean and Atlantic, tearing apart developing tropical storms.
Sacha Baron Cohen teases a new Trump-related project
You don't know [expletive]", Trump continues in the clip right before another message appears saying, " Sacha graduates. Trump took to both Twitter and YouTube to lambast Baron Cohen's antics, calling Baron Cohen's stunt "a disgrace".
Sizing up the worldwide and domestic impact of China tariffs
China responded by threatening tariffs on $50 billion worth of United States exports to China, mostly aimed at agricultural goods. Both Chinese and U.S. business sources in China said there appeared to be little hope that the tariffs could be averted.
Galaxy Tab S4 render leak: looks familiar
The smartphone is bundled with an inbuilt storage space of 64GB which can further be expanded up to 256GB using a microSD card. While there is no confirmation, the Galaxy Tab S4 might come powered by last-gen Qualcomm Snapdragon 835 octa-core processor.
Syrian rebels lose string of southwest towns
Israeli officials said they can't possibly take in 160,000 refugees, but are trying to do everything possible to help them. So far, about 100 civilians have been killed in air raids and shelling since June 19, it said.
Osorio promises Mexico will attack 'best in the world' Brazil
Replays showed that Layun did in fact step on Neymar's leg, but his exaggerated reaction after the foul was something to behold. Mexico and Brazil kick off 2018 World Cup soccer games on Monday in the highest profile knockout stage game thus far.