The submarine MI arrived in Busan, South Korea, on Friday, and warplanes will also join the exercise, The New York Times reported.
The US has threatened Pyongyang in its own ways, recently by flying two B-1B strategic bombers in Pyongyang's backyard and test-firing ground-attack missiles earlier this week before kicking off joint naval exercises with allies South Korea and Japan on Friday.
To celebrate the anniversary of Russia-North Korea diplomatic relations, which dates back to the Soviet era, a TASS delegation was allowed into the country.
The nuclear-powered submarine MI arrived at the South Korean port of Busan on Friday.
"We have already warned several times that we will take counteractions for self-defence, including a salvo of missiles into waters near the U.S. territory of Guam", Mr Kim, the researcher, told the North's official Korean Central News Agency.
It comes after the US military flew two strategic bombers over the Korean Peninsula in a show of force late on Tuesday, Reuters reported.
"If the U.S. imperialists and South Korean puppets ignite an aggressive nuclear war against us, it would only advance their own demise", the state-run Korea Central News Agency said in a Friday report.
The professor added Carter would like to meet with Kim Jong-un to discuss a peace treaty with the US and would push for a complete denuclearization of North Korea.
Two B-1B Lancers based in Guam flew a mission in the vicinity of the Sea of Japan, staging the first night-time joint aviation exercises with Japan and South Korea the US Pacific Air Forces said in a statement.
Yesterday, White House Chief of Staff John Kelly said there's "great concern" about Americans who live in Guam.
"The US military action hardens our determination that the US should be tamed with fire", the statement added.
But he stipulated there is "great concern" for the citizens of Guam, which features a significant number of US military installations. "Let's hope that diplomacy works".