Speaking moments after the two leaders signed the unspecified document, President Trump said that he had developed a "very special bond" with Kim Jong Un. "It’s been an honor to be with you."
When asked if he would invite Kim to the White House, Trump responded that he would: "Absolutely, I will."
Standing again in front of the US and North Korean flags, where they began the historic day, Trump and Kim shook hands one final time.
"(He's) a worthy negotiator," Trump said to the gathered reporters. "He's negotiating on behalf of his people."
Trump was asked what he had learned about the North Korean leader. "I learned he's a very talented man. I also learned he loves his country very much."
Trump said they would meet again.