"To know that Canada has stood for him, stood by him - we are so grateful".
Canadian Prime Minister Justin Trudeau sent national security adviser Daniel Jean to North Korea to seek Lim's freedom.
Lim was arrested in 2015 for allegedly meddling in North Korean state affairs.
U.S. President Donald Trump tweeted Friday morning that "military solutions" are "locked and loaded" should North Korea act unwisely, capping off a week that saw North Korea lay out plans for a military strike on Guam, an American territory in the region.
Freeland called repeatedly on North Korea to end its missile program.
Freeland said Canada is "working with our global partners to seek a resolution, a de-escalation" in the situation.
Trump again cites 'military' option against North Korea
This rise in tensions between the United States and North Korea weighs on the financial markets and anxious many world leaders. In response, Japan began on Saturday to deploy its missile defense system Patriot, after threats from Pyongyang.
A Canadian pastor who was imprisoned in North Korea for more than two years quietly returned to his home in a Toronto suburb on Saturday following a long journey on a private government jet via Japan.
There's no word yet on when exactly Lim arrives in Canada.
South Korea, the US and others often accuse North Korea of using foreign detainees to wrest diplomatic concessions, and foreigners have said after their release that their declarations of guilt were coerced while in North Korean custody.
"We are very glad that pastor Lim is now safely home", she said.
Lim's release came almost two months after USA college student Otto Warmbier died shortly after he was released from North Korea in a coma. He had been sentenced to hard labour for what it called crimes against the state.
The pastor of the Mississauga Light Korean Presbyterian Church traveled regularly to North Korea for humanitarian missions and has always denied the allegations.