Abe also said such an opportunity could only follow successful talks between Kim and U.S. President Donald Trump next month, which would raise expectations for an overall resolution of the nuclear issue on the Korean Peninsula.
"If North Korea takes bold action to quickly denuclearize, the United States is prepared to work with North Korea to achieve prosperity on the par with our South Korean friends", Pompeo said during a joint press conference with his South Korean counterpart.
The top USA diplomat said the release of three American detainees set the conditions for a successful summit between the US and North Korea.
North Korea has faced major economic sanctions by the United Nations in recent months, hitting its already stunted economy, after Kim's government continued its testing of rockets with the stated intent of reaching the USA mainland with a nuclear weapon.
Some observers are concerned that South Korea's desire to build peaceful ties with the North may distance it over time from the U.S. policy of seeking nuclear disarmament at any cost.
That will be the first time leaders of the US and North Korea have ever met face-to-face.
The top U.S. diplomat said he had "substantive" talks with North Korean leader Kim Jong Un on Wednesday during his second visit to the North.
She said the USA troop presence in the South for the past 65 years has played a "crucial role for deterrence", peace and stability on the Korean peninsula.
"We are very clear that sanctions remain in place until and unless we see visible, meaningful action taken by North Korea on the denuclearisation track", Ms Kang said.
Any deal will also "require a robust verification program", Pompeo said, although it's hard to underscore how difficult that process would be.
He later told a Diet committee, "It's extremely important to make sure (the worldwide community) keeps pressure on North Korea so that there are no loopholes".
The Russian Foreign Ministry said Friday that it couldn't understand the United States appeals to increase pressure on North Korea amid the latter's readiness for a dialogue, Sputnik reported. "Conversations that involved deep complex problems, challenges; the strategic decision that Chairman Kim has before him about how it is he wishes to proceed and if he is prepared, in exchange for the assurances we are ready to provide to him, if he is prepared to fully denuclearize". "I said, 'Welcome home.' He said, 'God bless America, '" said State Department official Brian Hook, who was with Pompeo in North Korea.
"This administration has been significantly and sufficiently tough on North Korea".