SEOUL, South Korea — Only 16 days after President Trump set foot in North Korea to try to restart nuclear talks with its leader, North Korea on Tuesday escalated its pressure on the United States to cancel a planned joint military drill with South Korea, warning that it could scuttle efforts to resume dialogue with Washington and even prompt the North to resume nuclear and long-range missile tests.

The vaguely worded threats were contained in two separate statements from the North Korean Foreign Ministry on Tuesday that complained about the military drill, called 19-2 Dong Maeng.

The North said the planned exercise undermined a mood for dialogue created when its leader, Kim Jong-un, met with Mr. Trump at Panmunjom, a village on the inter-Korean border, on June 30. In the hurriedly arranged meeting, the two leaders agreed to restart working-level talks on the terms of denuclearizing North Korea.

On Tuesday, North Korea warned that if the joint military drill takes place next month, it “will affect” efforts to resume dialogue. At Panmunjom, Mr. Trump said dialogue could resume in two or three weeks. But the North on Tuesday appeared to link the resumption of such talks to the cancellation of the military drill.