Russian Foreign Minister Sergey Lavrov and his Japanese counterpart, Fumio Kishida, also joined in urging North Korea to refrain from "provocative actions" and to abide by United Nations resolutions demanding an end to its nuclear and missile testing.
The call came in "two-plus-two" talks among foreign and defense ministers in Tokyo that touched on a wide array of issues, including the conflict in Syria, drug trafficking, and logistics for travel by elderly Japanese back to disputed islands that have been under Russian control since the end of World War II.
Japanese Prime Minister Shinzo Abe is to visit Russia in late April and again in September, as the two sides haggle over how to narrow differences in the territorial dispute that has prevented them from reaching a peace treaty officially ending their World War II hostilities.
But while the talks appeared cordial and the tone was constructive, tensions remain.
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Earlier this month, North Korea fired four missiles, of which three landed inside Japan's territorial waters. Russia views missile defense systems the U.S., Japan's main ally, is deploying in northeast Asia as a threat to regional security, Lavrov said following the talks.
"The U.S. Global ballistic missile defense poses a deep risk to the security of the region," Lavrov said. He said it was crucial to avoid upsetting the balance in the region and setting off an even greater arms buildup that could lead North Korea to step up its own military expansion.
Lavrov said the installation of the THAAD system was "a response completely out of proportion" to the threat from North Korea. He accused the U.S. Of "pumping arms into the region," and called for approaches that might encourage North Korea to engage in dialogue with its neighbors.
Japan and Russia last held "two-plus-two" talks in November 2013. Meetings were shelved after that due to the crisis in Ukraine, as Japan joined sanctions against Moscow.