But they are there exclusively for the defense of South Korea.
President Donald Trump on Tuesday rocked a region and suggested the upending of decades of US defense posture on the Korean Peninsula when he announced that he was stopping annual US-South Korean military drills and wants to remove the 28,500 US troops stationed in the South as a deterrent against North Korean attack.
The final point on the document calls for North Korea to work with the United States in helping them recover the remains of prisoners of war and those missing in action - including immediately repatriating any bodies which have already been identified.
"I think without the rhetoric we wouldn't have been here".
USA forces in Korea said they had not received updated guidance on military exercises.
North Korean Supreme Leader Kim Jong Un should know that the United States has a history of "quitting treaties and violating their commitments" before trusting Washington, Iran's Foreign Ministry said Monday.
I just think that we are now we are going to start the process of denuclearization of North Korea, and I believe that he's going back and will start it virtually immediately, and he's already indicated that and you look at what he's done. But we'll be saving a tremendous amount of money.
But a joint statement signed at the end of their historic summit in Singapore gave few details on how either goal would be achieved.
The document reads: "President Trump and Chairman Kim Jong-un conducted a comprehensive, in-depth and honest exchange of opinions on the issues related to the establishment of new US-DPRK relations and the building of a lasting and robust peace regime on the Korean Peninsula".
Photographs of the agreement signed by both leaders, who have now left Sentosa, reveal Kim Jong-un "reaffirmed his unwavering commitment" to denuclearisation adding the "world will see a major change".
Admittedly, Trump said Kim was very pleased with the development.
He added that it's "totally premature" to discuss the United States withdrawing its nuclear umbrella from the Korea peninsula in exchange for the total denuclearization of North Korea.
US Secretary of State Mike Pompeo and North Korean officials would hold follow-up negotiations "at the earliest possible date", the statement said.