Yesterday, Washington warned that North Korea's leadership will be "utterly destroyed" if war breaks out as it called on countries to cut all diplomatic and trade ties with North Korea.
US President Donald Trump derided Kim as a "sick puppy" and threatened "major" new sanctions.
Mr Trump's tweets further inflamed tensions reignited this week after North Korea said it had successfully tested a new intercontinental ballistic missile in a "breakthrough" that put the USA mainland within range of its nuclear weapons, whose warheads could withstand re-entry into the Earth's atmosphere.
Earlier Wednesday, North Korea declared that it is a "responsible nuclear power".
North Korea's Central News Agency (KCNA) said that the Hwasong-15 missile had covered a distance of 950 kilometers during its 53-minute flight, reaching an altitude of 4,475 kilometers. "We have repeatedly stated that the pressure of sanctions has been exhausted".
"We have the impression that all of this is done specially so that Kim Jong Un will go off the rails and take yet another reckless step", Lavrov said, referring to North Korea's leader.
"I think it's a big mistake", Mr Lavrov said.
It is not clear at the moment, what actions might be taken by the United States if it does take up the situation into its own hand.
Russian Foreign Minister Sergei Lavrov said on Friday that a US threat to destroy North Korea in the event of a war was "a bloodthirsty tirade" and military action against Pyongyang would be a big mistake.
Following the launch, Trump promised new sanctions in a tweet, saying that he had spoken to China's leader, Xi Jingping about "the provocative actions" of North Korea.
"We regard this negatively", Mr Lavrov said.
Previous U.S. administrations have failed to stop North Korea from developing nuclear weapons and a sophisticated missile programme.
North Korea, which conducted its sixth and largest nuclear bomb test in September, has tested dozens of ballistic missiles under Kim's leadership.
"If the United States drops out of this deal, it won't be very credible in the eyes of those who are now requested to drop their (own) nuclear programme like North Korea", Lavrov said.
It flew higher and longer than any North Korean missile before, landing in the sea near Japan.
He also complained that the United States was "totally ignoring" a UN demand for talks with North Korea.