Trump advisers cast his actions as a show of strength before the Kim meeting.
Pyongyang has said it is willing to deal away its entire nuclear arsenal if the United States provides it with reliable security assurances and other benefits.
Kim's main concern is the survival of his own regime - South Korean President Moon Jae-in told reporters that the Pyongyang leader had "concerns on whether he could trust that the U.S. would end its hostile policy and guarantee the security of his regime when the North denuclearises itself".
USA presidents and vice-presidents generally never fly on the same aircraft to guarantee that one of them survives in the event of a disaster, and the move appeared created to ensure the preservation of the Kim dynasty, which has ruled the North for three generations.
In turn, North Korean state media reported on Monday that the upcoming US-North Korean talks would focus on the establishment of the new relations between the countries, the creation of a firm peace system and the denuclearization on the Korean peninsula.
Mr Trump's first year in office was marked by bitter exchanges with Mr Kim as North Korea conducted several ballistic missile tests in defiance of global warnings. "It's never going to be there again", Trump said on Saturday.
Even if Kim offers only "a fine-sounding rhetorical commitment, and maybe a few missile surrendered or some site closures", he said, Trump will "market this thing as something extraordinary for his voters back home".
It is unclear, however, under what terms North Korea would agree to in an effort to reduce its nuclear arsenal.More news: Poet Kate Clanchy: I hope MBE honours creativity in classroom
According to the information, the President of the DPRK landed shortly after noon in the middle of a strong security device adopted in view of his meeting with Trump on Tuesday.
The North has faced crippling diplomatic and economic sanctions as it has advanced development of its nuclear and ballistic missile programs.
"When I woke up this morning I saw the news in the newspaper that our respected Marshal went to Singapore for the North Korea-U.S. summit", said Han Il Gwang, a Pyongyang resident, displaying typical discretion when speaking to an Associated Press Television crew.
Aware that the eyes of the world were on a moment many people never expected to see, Kim said many of those watching would think it was a scene from a "science fiction movie".
The North Korean autocrat's every move will be followed by 3,000 journalists who have converged on Singapore up until he shakes hands with Mr Trump on Tuesday.
The Federal Reserve holds a two-day meeting starting on June 12, at which it is widely expected to raise interest rates for the second time this year.
But many say Kim's government is unlikely to give up weapons that help guarantee its survival.