The men, who were freed after Pompeo met Kim, were on their way home aboard the chief US diplomat's plane, and Trump said he would greet them when they arrived at Andrews Air Force Base outside Washington on Thursday morning.
Trump noted that at 2 am on Thursday morning he will travel to an airbase outside the capital along with Vice President Mike Pence to welcome the three United States citizens - all with Korean heritage - recently released from prison by North Korea.
Trump said on Twitter that Pompeo was "in the air" and was with "the 3 wonderful gentlemen that everyone is looking so forward to meeting".
It marks the second meeting between the two leaders in recent weeks, following Kim's first official visit to Beijing in March, his first since taking power in 2011.
Until now, the only American released by North Korea during Trump's presidency has been Otto Warmbier, a 22-year-old university student who returned to the United States in a coma last summer after 17 months of captivity.
Kim Hak-song had been working for the Pyongyang University of Science and Technology (PUST) undertaking agricultural development work with the school's farm. Hak-song had been doing research at the college and was detained a month later for the same alleged offense.
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Kim Dong-chul, a pastor in his early 60s, was detained in 2015 on spying charges, and was then sentenced to 10 years hard labour.
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.
According to China´s official Xinhua news agency, Kim told Xi that "relevant parties" should "abolish their hostile policies and remove security threats against the DPRK".
"PUST faculty members [who are] US citizens are still barred from traveling to North Korea as of now", Park says.
The three men had been jailed for anti-state activities and placed in labour camps.
"Though we're not quite back home yet, I welcomed them back", he said, recounting his first words with the men after they were freed. "Now we are hopeful that we can work together to resolve this conflict", Pompeo said, adding that "there are many challenges along the way". On learning of the release of Tony, who also uses the name Kim Sang-duk, his family expressed gratitude and credited Trump for engaging directly with North Korea. He said, however, the meeting would not take place at the heavily fortified demilitarized zone between North and South Korea.
There's also the "fire and fury" threatened by Mr Trump in response to North Korean nuclear tests which is now, it seems, producing tangible results.