TOKYO—Prime Minister Shinzo Abe stopped short of offering an apology in his own words for Japan’s actions in World War II, issuing a 70th-anniversary statement that mixed remorse with some defiant messages.

Mr. Abe, alluding to statements by predecessors, said Friday that Japan “has repeatedly expressed feelings of deep remorse and heartfelt apology” over the war. He also said, “Upon the innocent people did our country inflict immeasurable damage and suffering.”

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