North Korea fired a short-range ballistic missile (SRBM) into the East Sea on Thursday, and the U.S. and ROK militaries conducted a joint missile defense drill the same day, according to South Korea’s Joint Chiefs of Staff (JCS).

The launch came less than two hours after North Korean foreign minister Choe Son Hui issued a statement criticizing the recent U.S.-ROK-Japan trilateral summit, warning of a “fiercer” military “counteraction” against U.S. efforts to strengthen extended deterrence for Seoul and Tokyo.