The US also said it conducted a successful test of a missile defense system located in Alaska.
The B-1 bombers were escorted by South Korean fighter jets as they performed a low-pass over an air base near the South Korean capital of Seoul before returning to Andersen Air Force Base in Guam, the US Pacific Air Forces said in a statement.
It said the mission was a response to North Korea's two ICBM tests this month. Analysts say flight data from the North's second test, conducted Friday night, showed that a broader part of the mainland United States, including Los Angeles and Chicago, is now in range of Pyongyang's weapons.
"The continued provocations by the rogue regime in North Korea are unacceptable and the United States of America is going to continue to marshal the support of nations across the region and across the world to further isolate North Korea economically and diplomatically," Pence said.
"But the era of strategic patience is over. The president of the United States is leading a coalition of nations to bring pressure to bear until that time that North Korea will permanently abandon its nuclear and ballistic missile program."
Haley said a weak resolution would show North Korean leader Kim Jong Un that "the international community is unwilling to challenge him," and singled out China, the North's biggest trading partner, as a country that must change its approach.
Japan's Prime Minister Shinzo Abe said he and President Donald Trump spoke by phone Monday morning Asia time and have agreed to take further action against North Korea. Abe said Trump pledged to "take all necessary measures to protect" Japan and that Abe praised his commitment to do so.
Gen Terrence J O'Shaughnessy, Pacific Air Forces commander, called North Korea "the most urgent threat to regional stability."
"Diplomacy remains the lead. However, we have a responsibility to our allies and our nation to showcase our unwavering commitment while planning for the worst-case scenario," O'Shaughnessy said. "If called upon, we are ready to respond with rapid, lethal, and overwhelming force at a time and place of our choosing."
Sen Dianne Feinstein, a California Democrat, told CBS' "Face the Nation" that North Korea's latest test presents a clear and present danger to the United States.
Feinstein said the situation shows the danger of isolating a country.
"I think the only solution is a diplomatic one," she said. "I'm very disappointed in China's response, that it has not been firmer or more helpful.
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