WASHINGTON — Pope Francis landed to a red-carpet welcome on Tuesday as he opened his first visit to the United States determined to press the world’s last superpower to do more to care for the planet and its most marginalized inhabitants.

The papal jet descended out of cloudy skies to touch down at Joint Base Andrews, the iconic post still better known as Andrews Air Force Base. His white robes flapping in the breeze and his skullcap held in his hand rather than on his head, the pontiff was greeted by President Obama, Vice President Joseph R. Biden Jr. and their families.

The exuberant but unassuming ceremony seemed designed especially for a pope who has inspired millions around the world with a humbler, more populist approach to the papacy. Hundreds of guests cheered, an honor guard stood at attention and a high school band performed the Pharrell Williams song “Happy.” Four children from local Roman Catholic schools greeted him, with one handing him flowers.

“Ho, ho, hey, hey, welcome to the U.S.A.,” the crowd chanted at one point. At another, it chanted, “We love Francis, yes we do. We love Francis, how about you?”