He said that an "all-out war" would result if the United States took military action.
After talks with Japan's deputy prime minister, Taro Aso, Pence said the USA would work with Japan, China and other nations to get Pyongyang to give up its atomic weapons program.
This image captured from footage on North Korea's state-run TV station on April 18, 2017, shows North Korea's simulated missile attack on the United States.
North Korea has till now shown no sign of abandoning or toning down its programme. His language was stronger than in a written statement he issued shortly after the launch, in which he simply said he was aware of the failure.
The North has warned of a nuclear strike against the United States if provoked.
The loss of US participation in the TPP was a blow to Japan following strenuous negotiations, especially over opening access wider to its long-protected farm sector.
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Water testing done by the EPA at the Superfund site show elevated levels of contaminants in the drinking water. The EPA works to not only safeguard the environment, but also protect the public's health, he said.
Footage of what appeared to be a new intermediate-range ballistic missile being fired and the missile crossing the Pacific and hitting an unidentified city of the USA was shown on a giant screen at the performance hall, according to the state-run TV station. He did not comment on what might have caused the missile to fail.
Another official, speaking on condition of anonymity to discuss an intelligence matter, said the missile was a Scud variant that the USA calls a KN-17.
The United States and Russian Federation clashed on Wednesday at the United Nations over a USA -drafted Security Council statement to condemn North Korea's latest failed ballistic missile test, to which diplomats said China had agreed.
"The United States of America will always seek peace but under President Trump, the shield stands guard and the sword stands ready", Pence told 2,500 sailors dressed in blue fatigues and Navy baseball caps on a sunny, windy morning aboard the carrier at the U.S. Yokosuka naval base in Tokyo Bay. But no one was predicting what might come next.
Trump also abandoned the 12-nation Trans-Pacific Partnership (TPP) backed by predecessor Barack Obama and Abe, and vowed to revisit regional trade deals to focus on two-way agreements.
Pyongyang has threatened the USA with an "all-out war", asserting that it will continue to test missiles on a regular basis.
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It was Pence's second stop on the trip, which will later take him to Australia and Indonesia.
Asked whether another North Korean nuclear test is imminent, she said, "Some kind of a major provocation like that would draw a pretty significant global response".
Pence told reporters President Donald Trump was confident that economic and diplomatic pressure from the "family of nations" had a chance of compelling North Korea to cooperate. But Pence expressed impatience with the unwillingness of the regime to move toward ridding itself of nuclear weapons and ballistic missiles.
"If the figure of speech used by the U.S. Vice President can be understood as a threat of a unilateral military solution, it is a highly risky path", Lavrov said according to a release from the Moscow's Foreign Ministry.
Meanwhile, China made a plea for a return to negotiations.
Yet Abe and Pence affirming the foundation for a peaceful solution represents a shift in tone for the US following the nation's recent airstrike on Syria, use of a massive ordnance air blast bomb in Afghanistan and orders to send the USS Carl Vinson aircraft carrier near the Korean Peninsula.
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However, on April 15, the carrier was pictured passing through Indonesia toward the Indian Ocean - about 3,500 miles from Korea. Recent tensions between Washington and Pyongyang have been focused on the latter's nuclear weapons program and missile testing.