"Hawaii local time April 15", the statement read.
The North launched a ballistic missile from the same region this month, ahead of a summit between the United States and China in Florida to discuss the North's arms programme.
"When the articulated trucks went past me I noticed the nosecone of one of the missiles vibrating up and down quite noticeably as the vehicle passed over uneven surface on the road", said NK News managing director Chad O'Carroll, who was at the scene in Pyongyang.
"US Pacific Command is fully committed to working closely with our allies in the Republic of Korea and in Japan to maintain security", he said.
Pence is travelling to South Korea to hold talks with the country's leadership.
The North has been increasingly challenging the U.S.in rhetoric following ambiguous language from the Trump administration as well as the recent missile strike against Syrian government forces.
"The president has no further comment".
The parade also featured the "Pukguksong-2", a land-based variant of the submarine-launched missile. An official from South Korea's Defense Ministry couldn't immediately confirm whether any of the rockets represented a new type of ICBM.
"Any missteps from both sides could lead to conflicts, especially moves from North Korea", said North-east Asia expert Wang Dong from Peking University.
The official, who wasn't authorized to be quoted by name and demanded anonymity, lamented Pyongyang's "far too common and far too dangerous" provocations, and said Washington would work with worldwide partners to cut the North's government off "from the rest of the world".
North Korea rolled out intercontinental ballistic missiles and other military hardware at a massive parade on Saturday to celebrate the birthday of the country's late founder, as third-generation leader Kim Jong Un looked on in delight.
Those missiles rolled out first at the parade, along with other weaponry that North Korea has previously shown off.
A US navy attack on a Syrian airfield this month with Tomahawk missiles raised questions about US President Donald Trump's plans for reclusive North Korea, which has conducted several missile and nuclear tests in defiance of United Nations sanctions, regularly threatening to destroy the US.
Mr Han said Mr Trump's "aggressive words" were being seen as a threat.
The country's number two official on Saturday said North Korea was prepared to respond to any nuclear attack by the United States in kind.
Missiles appeared to be the main theme of a giant military parade, with Kim's grandson, leader Kim Jong Un, taking time to greet the commander of the Strategic Forces, the branch that oversees the missile arsenal.
"We've tried persuasion, it's failed, we've tried coercion, it's failed". But this two-step strategy is a mere rehash of policies the US has followed on North Korea for the past 23 years.
North Korea saw the toppling of Saddam Hussein in Iraq and Moammar Gadhafi in Libya - neither of whom had nuclear weapons - as proof of the weapons' power.
Four extended and articulated trucks carried by seven wheel axels were seen carrying ICBM-size missiles through Kim Il Sung Square in front of North Korean leader Kim Jong Un and high-ranking officials, pictures taken by NK News at the scene showed.
Several KN-08 missiles were displayed on trucks at the parade, said Associated Press. Military analysts say the missiles could one day be capable of hitting targets as far as the continental United States, although North Korea has yet to flight test them.
The response came with the grand bluster normally included in statements by North Korea, bluster like "nuclear justice".
"Though analysts questioned what was inside the missile shells, they said the appearance of a submarine-launched ballistic missile shows North Korea is progressing with its plan to launch missiles from anywhere in the sea".