Trump said both the United States and Singapore understand the unmatched power of private enterprise to uplift the human condition.
"The United States and Singapore share a profound belief in a society built on a foundation of law. A nation ruled by law provides the greatest security for the rights of citizens and the best path to shared and lasting prosperity," Trump told reporters in the Rose Garden of the White House in a joint media appearance with Lee.
The common values and interests between US and Singapore, he said, have led to a vital security relationship.
Throughout Southeast Asia, the United States and Singapore are currently working to enhance the capacity of law enforcement, fight terrorism, and bolster cyber defenses, he added.
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"Our two nations also share an unwavering commitment to countering the North Korean threat and promoting freedom of navigation in the South China Sea," Trump said.
The US President travels to the Indo Pacific region next month with stops in Japan, South Korea, China, Vietnam and Philippines.
"These pose a serious threat to regional and international peace and stability," he said adding Singapore has done more to pressure and to isolate North Kotrea, going beyond UN Security Council resolutions.
"But there is no quick and easy solution. Pressure is necessary but so is dialogue. The US will need to work with others, including China, South Korea, and Japan, and Russia to resolve the issue," he said.
Referring to Trump's upcoming visit to China, Lee hoped that the US will be able to maintain a stable and constructive relationship with China, engaging each other at the highest levels, building trust, establishing institutional mechanisms.
Earlier, in the presence of Trump and Lee, the Singapore Airlines signed a contract with Boeing to buy 20 20 777-9s and 19 787-10s, at an estimated cost of USD 13.8 billion.
The signing ceremony, witnessed by Trump and Lee, included Singapore Airlines' CEO Goh Choon Phong and Boeing Commercial Airplanes' President & CEO Kevin McAllister.
Peter Seah, Singapore Airlines' Chairman, and Dinesh Keskar, senior vice president, Asia Pacific & India Sales, Boeing Commercial Airplanes and other members of the airline and Boeing were also present.