The U.S. flew two strategic bombers over the Korean Peninsula on Saturday in response to North Korea's latest ballistic missile test and nuclear threat.

Two B-1B Lancer bombers from Guam's Anderson Air Base flew over the Peninsula for precision-strike training, the U.S. Pacific Air Forces said in a statement. The training session, a 10-hour bilateral mission with Japanese and South Korean fighter jets, comes days after North Korea test-launched its first intercontinental ballistic missile.

“North Korea’s actions are a threat to our allies, partners and homeland,” said Gen. Terrence O’ Shaughnessy, Pacific Air Forces commander. “Let me be clear, if called upon we are trained, equipped and ready to unleash the full lethal capability of our allied air forces.”

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The U.S. bombers were later joined by South Korean F-15 fighter jets and U.S. Air Force F-16 fighter jets, according to U.S. Pacific Air Forces.

“U.S. bombers and Republic of Korea fighters are just two of many lethal military options at our disposal,” said Lt. Gen. Thomas Bergeson, U.S. Forces Korea deputy commander. “This mission clearly demonstrates the U.S.-ROK alliance remains prepared to use the full range of capabilities to defend and to preserve the security of the Korean Peninsula and region.”

In a press conference earlier this week in Warsaw, Poland, President Trump said he's mulling a number of responses to the North Korean crisis but warned of "severe" consequences due to its intercontinental ballistic missile test.

"I don't like to talk about what I have planned, but I have some pretty severe things we’re thinking about," Trump said. "That doesn't mean we're going to do them. I don't draw red lines."

Contributing: Gregory Korte and Mike James