The president tweeted, "We will both try to make it a very special moment for World Peace!"
A North Korean official came to the hotel shortly after to inform Pompeo that Kim had granted amnesties to the three and that they would be released at 7 p.m. local time, according to a senior US official present for the exchange.
Trump told waiting reporters it was "nice" of the North Korean leader to release the three men ahead of their planned summit.
In recent weeks, the shortlist was whittled down to Singapore, and the Demilitarised Zone (DMZ) that divides the Korean peninsula.
He'd said he favoured holding the meeting at the heavily fortified border but Singapore was preferred by most of his advisers.
The meeting set the stage for Trump to meet with North Korea's leader next month to discuss an end to North Korea's nuclear program.
US President Donald Trump has announced the place and time for his historic summit with Kim Jong Un. I mean, the pat answer is - well, it's energy assistance, it's economic assistance, but it sounds as though President Trump is moving more in the direction of bigger things, bigger carrots, if you will, including normalization of political relations, a peace treaty, and there even been reports in the newspaper last week that he's considering removing ground troops - USA ground troops from the Korean Peninsula.
Shortly after they touched down in Alaska, the department released a statement from the freed men.
Kim Hak Song also worked at the university and was detained a month later, accused of being involved in "hostile acts" against North Korea. According to South Korean media, he had been involved in humanitarian work in the North.
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Kim has repeatedly proposed talks with world leaders about the denuclearization of the Korean Peninsula, which was a United States precondition for talks.
Pompeo also delivered Kim a "verbal message" from Trump, the KCNA said, adding Kim highly appreciated that the USA president has shown "deep interest in settling the issue through dialogue".
"In this moment, the regime in North Korea has been dealing, as far as we can see, in good faith", US Vice President Mike Pence told NBC News.
There was no sign that Pompeo's visit had cleared up the question of whether North Korea would be willing to bargain away nuclear missiles that might threaten the United States.
In preparation for the high-stakes talks with Kim, Trump plans to consult with South Korean President Moon Jae-In when Moon visits the White House on May 22.
US officials had looked at several sites other than Singapore for the historic meeting.
MARTIN: So the release of these prisoners - obviously, it's wonderful news for them and their families. "It is no great accomplishment of Kim Jong Un to do this".
Pence also told CBS he spoke Wednesday with the family of Otto Warmbier, an American detainee who died previous year shortly after his release from North Korean captivity.
His parents, Fred and Cindy Warmbier, said they were "happy for the hostages and their families".