"We're not your enemy", Rex Tillerson said, adding that the United States wanted a dialogue at some point.
In Malaysia, he will discuss bilateral relations with officials.
Leader Kim Jong-un claims the launch is evidence that North Korean weapons can reach the USA mainland.
Figures on how many Americans visit North Korea are hard for even the US government to obtain, but organizers of guided tours to the country estimate between 800 and 1,000 visit annually.
He further said that U.S. doesn't think having a dialogue where the North Koreans come to the table assuming they're going to maintain their nuclear weapons is productive, so that's really the objective.
"So we felt the appropriate thing to do first was to seek peaceful pressure on the regime in North Korea to have them develop a willingness to sit and talk with us and others but with an understanding that a condition of those talks is there is no future where North Korea holds nuclear weapons or the ability to deliver those nuclear weapons to anyone in the region much less to the homeland", he said.
Meanwhile, a senior Republican senator said President Trump considered going to war with North Korea as an option.
Fate unknown of Indians abducted in 2014
The labourers, mostly from Punjab, were taken hostage by ISIS when it overran Iraq's second largest city Mosul in 2014. He met Swaraj in New Delhi for a discussion on bilateral relations between India and Iraq.
The US continues to bristle at North Korea's ongoing ballistic missile and nuclear activity, particularly what analysts are calling the country's second intercontinental ballistic missile (ICBM) launch last week. He also said President Trump promised him "if there's going to be a war to stop them, it will be over there".
"He has told me that".
"We identified it as a very urgent matter, and the North Koreans have certainly proven the urgency of that to us", he said.
White House press secretary Sarah Huckabee Sanders was asked what Donald Trump's stance was on North Korea after a Republican senator, Lindsay Graham, said the U.S. president was willing to go to war. "The time for talk is over", she said.
Though Tillerson seemed to warm to the idea of negotiations Tuesday, the United States has maintained for years - including during the Bush and Obama administrations - that North Korea and its leader must agree to denculearization up front for talks to proceed. "They are putting a lot of money into it", Lewis told CNN's Kristie Lu Stout.
The State Department issued a notice in the Federal Register on Wednesday declaring USA passports invalid for travel to, in or through North Korea.