"US Pacific Command determined this ballistic missile launch did not pose a threat to Guam", it said.
Korean Central News Agency (KCNA) also stated that the missile - dubbed the "ultra-modern rocket system" - was the first one launched from Pyongyang, the nation's capital and home of its leader Kim Jong-Un.
Japanese Prime Minister Shinzo Abe and South Korean President Moon Jae In agreed Wednesday to step up pressure on North Korea to the "maximum level" and to push for even stricter United Nations sanctions following Pyongyang's latest missile test.
Meanwhile, President Moon Jae-in spoke over the telephone with Japanese Prime Minister Shinzo Abe on Wednesday and said the launch over Japan "was violence against a neighboring country".
But hours later, Defense Secretary Jim Mattis, who was meeting with his counterpart from South Korea for talks on military readiness, appeared to contradict him.
On Tuesday, Washington and its allies called for an emergency U.N. Security Council meeting, but seemed to fall short on new ideas for stopping North Korea's nuclear and missile advances, which are increasingly putting the USA mainland within range.
Trump - who has warned that the USA military is "locked and loaded" in the event of further North Korean provocation - reacted angrily to the latest missile test.
Trump on Wednesday declared "talking is not the answer" to resolving the long- standing impasse.
The US and South Korea have agreed to increase Seoul's missile capabilities just days after North Korea fired a ballistic missile over Japan and threatened further launches, Seoul's Yonhap news agency reported.
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Guam homeland security adviser George Charfauros said the latest "sabre-rattling" did not come as a surprise since the country in previous years has increased its rhetoric and threats around annual war games that are now under way between the USA and South Korea.
But the US-drafted statement, while noting that the test contravened several previous Security Council resolutions, will not immediately lead to new or tightened measures against Pyongyang. That day came and went without any military action.
Munitions from a U.S. Air Force, U.S. Marine Corps and Republic of Korea Air Force bilateral mission explode at the Pilsung Range, South Korea.