The USS Michigan nuclear-powered submarine enters the naval base of Busan, South Korea, on October 13, 2017.
The U.S. military said in a separate statement it conducted drills with Japanese fighters after the exercise with South Korea, making it the first time U.S. bombers have conducted training with fighters from both Japan and South Korea at night.
"The US and [South Korean] navies have always enjoyed a strong relationship", said Rear Adm. Brad Cooper, commander of Naval Forces Korea.
A nuclear-powered attack submarine also made a high-profile visit to a South Korean port.
The former US leader has visited the isolated state three times in the past on diplomatic missions.
It said in a statement, "The DPRK's toughest counteractions include a warning not only to the USA, which gravely threatens the former's rights to sovereignty and existence, but also to Japan which acts rashly, toeing the US line, without knowing what would happen to itself".
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Although they did not meet with Kim Jong-un, an interview with Ri-the former commanding general of the North Korean military-is considered the next-best opportunity.
Earlier this week the U.S. held joint military exercises with Japan and South Korea in a highly provocative move in the Sea of Japan.
As the USA continued to display its military might on the Korean Peninsula, on Friday, North Korea unleashed another threat against the U.S.
Yesterday, White House Chief of Staff John Kelly said there's "great concern" about Americans who live in Guam. "The US military action hardens our determination that the US should be tamed with fire and lets us take our hand closer to the 'trigger.'" While the US maintains the exercise, like previous ones, is defensive, North Korea sees it as practice for an invasion.
It remains unclear whether North Korea will lash out with a weapons test during the exercise, as it often has in the past.
Kelly added that Americans should be concerned that the North is getting closer to achieving the ability to hit the mainland USA with its missiles.