He and first lady Melania arrived at Andrews airbase, near Washington, to greet the former prisoners as their medical plane touched down in the early hours.
They are Korean-American missionary Kim Dong-chul, detained in 2015 and sentenced in 2016 to ten years' hard labor; Kim Sang-duk, also known as Tony Kim, who spent a month teaching at the foreign-funded Pyongyang University of Science and Technology before he was arrested in 2017; and Kim Hak-song, who also taught at PUST and was detained last year.
The three boarded under their own steam, when most of the USA delegation had already got on the plane.
Choon-Min Kang, the senior pastor at New Life Vision Church in Mid-City, told CBS2 his former student and mentee was in North Korea was doing missionary work, which included teaching agricultural techniques.
The meeting between the two world leaders will be hosted on June 12 in Singapore, neutral territory with infrastructure favoured by United States and North Korean officials. They later gave the president a round of applause.
The men are now at Walter Reed National Military Medical Center for what's called "decompression time". The aircraft is parked before a large American flag suspended between two fire trucks.
The White House choreographed the arrival event at the air base, the image-conscious president telling reporters, "I think you probably broke the all-time-in-history television rating for 3 o'clock in the morning". Trump said in a tweet.
Secretary of State Mike Pompeo traveled to Pyongyang twice to meet with Kim in recent months, in a precursor to the Trump-Kim meeting.
The dispatch also made the first official mention by the North of plans for the Trump-Kim summit.
They are the latest in a series of Americans to be held in North Korea for alleged anti-state activities in recent years, only to be freed during the visit of a high-level US official or statesman.
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The leaders were taken in Iraq after months of strategic planning by the USA , including the CIA, Turkey and Iraqi forces. According to the Daily Mail , the terrorists were "lured" from Syria into Iraq using a popular mobile phone application.
Shortly after they touched down on American soil in Alaska for a refuelling stop Wednesday afternoon, the State Department released a statement from the freed men.
US Senate Democratic Leader Chuck Schumer said on Thursday that the release of the three detained American citizens was "no great accomplishment" Kim. "We want to thank all of those who have worked toward and contributed to his return home".
"I'm the first to say this is positive, the gesture of sending these people home is positive".
Singapore has emerged as the likely host of the U.S.
The historic summit could help pave the way to the denuclearisation of the Korean peninsula.
Kim released the Americans, who were jailed for spying on North Korea, after Trump made an "official suggestion".
The two leaders are expected to discuss North Korea's nuclear weapons development and testing programme, which has deepened long-seated tensions between Washington and Pyongyang.
President Trump received Kim Hak-song, Tony Kim and Kim Dong-Chul at Maryland in the U.S. where they had reached in a helicopter.
The release of the detainees was the latest in a series of major concessions by Kim Jong Un ahead of the meeting.
Pence also told CBS he spoke Wednesday with the family of Otto Warmbier, an American detainee who died a year ago shortly after his release from North Korean captivity.
The two men exchanged fiery rhetoric previous year over North Korea's attempts to build a nuclear weapon that could reach the United States. Warmbier's parents recently filed a wrongful-death lawsuit against the North Korean government. "They were happy to be with us on this plane to be sure", he said.