"We'll have dialogue if the conditions are there", said Choe Son Hui, North Korea's foreign ministry director general for USA affairs, to reporters in Beijing as she was travelling home from Norway.
Japan said the missile flew for 30 minutes and dropped in the sea between the North's east coast and Japan.
The firing of the missile could also be seen as an insult to Beijing.
The missile landed in waters between the Korean Peninsula and Japan, according to a statement from the Japanese government. Prime Minister Shinzo Abe repeated the protest in comments to reporters.
"Despite strong warning from the global community, North Korea launched a ballistic missile again", Abe said.
The North attempted but failed to test-launch ballistic missiles four consecutive times in the past two months but has conducted a variety of missile testing since the beginning of a year ago at an unprecedented pace. "North Korea's missile launch is a serious threat to Japan and clearly violate against the United Nations resolution".
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At the Senate hearing, Mr McCabe testified it was not typical practice to tell people they were not a target of an investigation. Mr Comey has not publicly discussed any conversations he had with Trump.
The missile launch comes amid claims claims from Kim Jong-Un's spokesmen that he is willing to talk to the US.
Anxious that the crisis was escalating, China's President Xi Jinping called for "restraint" when dealing with North Korea during a telephone call with Mr Trump.
North Korea's state-run Korean Central News Agency carried the message following the UN Security Council's urging of stronger enforcement of Security Council Resolutions 2270 and 2321 on Pyongyang by UN members. Perhaps Kim would like to meet in an active nuclear missile silo.
New South Korean President Moon Jae-in has made clear he wants to get reconciliation talks going with North Korea, and took a bit of a shot at USA sanctions pushes in comments yesterday, saying he thinks sanctions should only be considered as a tool to get North Korea to the table for talks.
Choe did not specify what conditions would be needed for a dialogue with the Trump administration.
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