The president criticized Japan both on Twitter and at a joint press briefing with Abe, who failed to win an exemption from USA tariffs on metals or convince Trump to rejoin the Trans-Pacific Partnership trade deal.
"If I think its a meeting that's not fruitful we're not going to go".
And Trump notably did not exempt Japan from steel and aluminum tariffs, as he did for Washington's other allies and partners.
Perhaps the most significant for Abe: Trump's promise to raise with Kim the issue of Japanese citizens who have been abducted by the North.
But on trade, Trump made clear he would prefer a bilateral trade deal with Japan instead of rejoining the 11-nation TPP Pacific Rim trade pact.
He said Mr Pompeo had forged a "good relationship" with Mr Kim - whom the U.S. president was a year ago calling "little rocket man" - and that the meeting had gone "very smoothly".
Trump confirmed the meeting in a tweet Wednesday, saying "a good relationship was formed" heading into his anticipated summit with Kim.
The director the White House's National Economic Council, Larry Kudlow, said on Tuesday the USA government wants Japan to open up its politically sensitive agriculture market, but this is a move Japan is likely to resist.
Speaking through a translator during one of their meetings, Abe said that he and Trump had had "very in-depth discussions" on both North Korea and economic issues and that "on those two points" they had "successfully forged a mutual understanding". -North Korea summit talks are scheduled to be held, Abe stressed, "This is not a case where Japan will be left behind".
Japan has raised concerns that the US might press Kim only on long-range missiles that could hit the mainland United States - and not on the short- and medium-range missiles that pose an immediate threat to Japan - as they discuss North Korea's nuclear weapons program.
Larry Kudlow, the director of the National Economic Council, had said earlier Tuesday that issuing Japan the waiver was "on the table", but he declined to say what Trump would ask for in return.
The U.S. itself is pushing for the release of three Americans.
It is not the first time the leaders have enjoyed eating burgers together; pictures taken during Trump's visit to Japan last fall showing Abe and Trump chowing down what is widely reported to be one of the president's favorite foods.
Trump said the invitation to his private club was a sign of how much he liked Abe.
The visit marked the highest-level contact between the USA and North Korea since 2000.
But he also urged caution, saying there should be "no reward" given to the North just because the reclusive country is responding to dialogue.
The two remain united, he said, in their goal to have a complete and verifiable denuclearization of the Korean peninsula. "'Maximum pressure' should be maintained and actual implementation of concrete actions toward denuclearization will be demanded".
Jack Nicklaus, Gary Player pay tribute to Barbara Bush
Also a year ago , they both wound up in the same Houston hospital - the former president with pneumonia; his wife with bronchitis. Her passion for literacy and helping others and her commitment to civility will be remembered for years to come", Snyder said.
Diamond dust may have fallen from long-lost planet
According to the researchers, they said that all the ureilite asteroids are the remains of the same proto-planet. The microscopy results showed that these diamonds must have been formed at pressures above 20 gigapascals.
New England Politicians Respond to Death of Barbara Bush
She shares the title with Abigail Adams, whose husband, John, was the second president, and son John Quincy Adams was the sixth. Bush to be his running mate and a team was formed, it was always a special pleasure to be detailed to one of her events.