In a separate appearance on the Fox Business Network, Trump said that North Korean leader Kim Jong Un was "doing the wrong thing".
North Korea has warned the USA not to take provocative action in the region, saying it is "ready to hit back with nuclear attacks".
But the North's Workers' Party of Korea Vice Chairman Choe Ryong-hae said in a speech Saturday that Pyongyang is ready to respond to the US with "an all-out war" including nukes.
Many outside analysts believe that North Korea has not yet mastered the technology to build warheads small enough to place on long-range missiles, though some civilian experts say North Korea can already build nuclear-tipped shorter range missiles that have South Korea and Japan within its striking range.
Kim has pointed to nuclear weapons as the foundation of his national defense strategy and has openly sought a nuclear weapon that could strike the continental United States.
Thousands of soldiers paraded through Kim Il Sung Square, followed by several tanks. Neither military knew what kind of missile was sacked.
While the two missile canisters appeared to accommodate missiles larger than any the country has publicly displayed, they were empty but insinuated North Korea's intentions to build larger ICBMs.
"North Korea must have felt the shock wave travelling all the way from Afghanistan", the Communist party-controlled newspaper said in an editorial. "It may hope to show something to display its nuclear and missile capabilities".
It has carried out five nuclear tests - two of them previous year - and multiple missile launches, one of which saw several rockets come down in waters provocatively close to Japan last month.
North Korean school boys sing at the Mangyongdae Children's Palace on Friday, April 14, 2017, in Pyongyang, North Korea.
North Korean leader Kim Jong-Un has overseen a special forces commando operation, state media said Thursday, as tensions soar with Washington over Pyongyang's nuclear programme.
American intelligence officials have reportedly said the U.S. is ready to launch a preemptive strike with conventional weapons against North Korea if it is sure Pyongyang is about to stage another nuclear weapons test.
In his annual New Year's address, Kim said North Korea's preparations for an ICBM launch had "reached the final stage".
"The president and his military team are aware of North Korea's most recent unsuccessful missile launch", Mattis said.
North Korea, still technically at war with South Korea after their 1950-53 conflict ended in a truce, but not a treaty, has on occasion conducted missile or nuclear tests to coincide with big political events.
North Korea paraded its intercontinental ballistic missiles on Saturday in a massive military display in central Pyongyang, amid rising tensions across the region.
Trump also said:"North Korea is a problem, the problem will be taken care of".