Special Representative for the Democratic People's Republic of Korea (DPRK) Sung Kim (left), Director-General of the Asian and Oceanian Affairs Bureau of the Ministry of Foreign Affairs of Japan Takehiro Funakoshi (center) and the Republic of Korea's Special Representative for Korean Peninsula Peace and Security Affairs Noh Kyu-duk pose for photos ahead of the Japan-US-ROK trilateral meeting on DPRK in Tokyo, Japan, on Sept 14, 2021. (DAVID MAREUIL / POOL / AFP)

TOKYO - Top nuclear envoys from Japan, the United States and the Republic of Korea (ROK) held talks in Tokyo on Tuesday to discuss how to rein in the Democratic People's Republic of Korea (DPRK)'s missile and nuclear programs, a day after Pyongyang said it conducted a new long-range missile test.

DPRK's state media announced on Monday what it said were successful tests of a new long-range cruise missile.

"The recent developments in the DPRK are a reminder of the importance of close communication and cooperation from the three countries," Sung Kim, the US special envoy for DPRK, said in his opening remarks.

The US, ROK and Japan agreed "dialogue and diplomacy was urgent to accomplish the complete denuclearization of the Korean Peninsula", ROK's foreign ministry said in a statement

The three countries have been discussing ways to break a standoff with DPRK over its nuclear weapons and ballistic missile programs, which have drawn international sanctions.

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In meeting with his Japanese counterpart Takehiro Funakoshi and ROK counterpart Noh Kyu-duk, Kim said Washington remained open to diplomacy to deal with DPRK issues.

The three agreed "dialogue and diplomacy was urgent to accomplish the complete denuclearization of the Korean Peninsula", ROK's foreign ministry said in a statement.

Denuclearization has been a goal, although not clearly defined, since former US President Donald Trump and South Korean President Moon Jae-in met with DPRK leader Kim Jong-un in 2018.

ROK and the United States also discussed ways to engage Pyongyang, including the possibility of a joint humanitarian project in DPRK, ROK's foreign ministry added, without providing further details.

US President Joe Biden's administration has said it is still prepared to engage with Pyongyang despite the recent missile test, but has so far shown no willingness to ease sanctions.

Pyongyang has said it sees no sign of policy changes from the United States, citing issues such as sanctions as well as joint military drills with ROK, which it says are preparation for an attack.

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While Washington is a close military and economic ally of both Japan and ROK, ties between the Asian neighbours have often been strained over issues including sovereignty disputes, Japan's 1910-45 occupation of the Korean Peninsula, and their wartime history.