The trip so far has been dominated by USA and allies' concerns about North Korea's nuclear and missile development efforts.
"We want to send an unambiguous message especially to North Korea that any attempt to use weapons of any kind against our allies in this region or American forces overseas will be defeated and will be met with overwhelming force", Pence said in an interview with CNN.
Pence, dressed in a green military jacket, said aboard the hulking USS Ronald Reagan that President Donald Trump's administration would continue to "work diligently" with allies like Japan, China and other global powers to apply economic and diplomatic pressure on Pyongyang.
US Vice President Mike Pence has threatened North Korea with an "overwhelming" response to any use of conventional or nuclear weapons.
Another official, speaking on condition of anonymity to discuss an intelligence matter, said the missile was a Scud variant that the US calls a KN-17.
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"North Korea is the most risky and urgent threat to peace and security in the Asia-Pacific", he said.
The country's Vice-Foreign Minister, Han Song-ryol, told the BBC Monday that North Korea would continue to test missiles "on a weekly, monthly and yearly basis", and warned an "all-out war" would result if the US took military action.
"I think unpredictability may have some potential benefits in dealing with North Korea, but there are also risks", said Scott Snyder, a senior fellow for Korea studies and director of the U.S. -Korea policy program at the Council on Foreign Relations.
Sporting a green flight jacket, Pence addressed a crowd of hundreds of American and Japanese troops aboard the carrier Ronald Reagan, now undergoing maintenance in port in Yokosuka Japan.
"The Trump administration has made the decision and has taken steps to formally withdraw from the Trans-Pacific Partnership".
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In that time span, North Korea has engaged in at least five missile tests, the most recent of which resulted in failure this past weekend.
Pence cited China's decision to return coal imports from North Korea as an example showing USA strategy is bearing fruit.
"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.
The Bush administration tried to get them to the negotiating table during the Six Party talks, and the punishing sanctions levied under the Obama administration haven't deterred Pyongyang's nuclear ambitions.
Mattis did not identify the type of missile but said it was not of intercontinental range, meaning it could not reach US territory.
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Lu stressed that given the complicated and sensitive situation on the Korean Peninsula, China firmly opposes any words and deeds that could heighten hostility and tension and called on all parties involved to make efforts to ease the tension.