Seoul's Joint Chiefs of Staff confirmed the launches in a statement but couldn't immediately say how far the projectiles flew or whether the weapons were ballistic or rocket artillery.

China and Russia made these and other proposals 16 days before Kim's end-of-December deadline for the United States to come up with new proposals to revive nuclear diplomacy.

Kim Jong Un said he would double down on efforts to create a self-supporting national economy.

It was not immediately clear what sanctions Trump was referring to, although the United States on Thursday blacklisted two Chinese shipping companies that it said helped North Korea evade sanctions.

Trump's much-anticipated meeting with Kim, held in the Vietnamese capital Wednesday and Thursday, ended abruptly and without the two leaders signing any agreements.

The North's stinging response came after the United States said on Monday it had introduced sanctions on three North Korean officials, including a top aide to North Korean leader Kim Jong Un, for alleged human rights abuses.

HMCS Calgary is the first Canadian military vessel to deploy to the region to help enforce sanctions against North Korea in response to the country's continued nuclear and ballistic missile tests.

The statement released by the Foreign Ministry on Friday evening said North Korea could bring back its "pyongjin" policy of simultaneously advancing its nuclear force and economic development if the United States doesn't change its stance.

U.S. Secretary of State Mike Pompeo said that the U.S. will not end economic sanction on North Korea until it completes "denuclearization".

The Treasury Department said Wednesday it was taking action against the companies, which are based in China, Russia and Singapore, as well as the head of the Russian firm.