Less than half an hour after the launch, North Korean state media carried a statement from the defense ministry criticizing "military gangsters" in the United States and South Korea.
"The US side reiterated that any nuclear attack by the DPRK against the ROK will be met with a swift, overwhelming, and decisive response," a joint US-South Korean statement said on Saturday.
South Korea's military said on Monday it was on alert after North Korea designated Nov. 18 as "missile industry day" to mark its launch of an intercontinental ballistic missile last year.
North Korean state media has often argued against Western views, especially those of the United States, on international issues. It also routinely lashes out at the United States.
The embassy reopened in 2015 when Cuba and the US restored diplomatic ties.
North Korea must "push ahead with the work for exponentially boosting the production of nuclear weapons and diversifying the nuclear strike means," said Kim Jong Un.
There have been several attempts by US soldiers stationed in South Korea to desert or defect to North Korea, but King's expulsion came relatively quickly compared to others.
The United States has said it would be a "huge mistake" for North Korea to supply Russia with weapons to use in Ukraine and warned Pyongyang would "pay a price".
North Korea has been stepping up its military deterrence against Washington and Seoul and has criticized last month's summit agreement between the two on improving military cooperations.
The launch comes as South Korea and the United States prepare to wrap up 11 days of combined military drills.
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