US President Donald Trump left on Friday for Asia saying he would also like to meet North Korean leader Kim Jong-un on his trip.

He added to speculation that while on the Korean peninsula he could meet Kim Jong Un for the first time since 2019.

"I would. If you want to put out the word, I'm open to it," Trump added aboard the presidential plane. "I had a great relationship with him."

The two leaders last met in Hanoi, Vietnam, during Trump's first term. Kim has said he would also be open to meeting the US president if Washington drops its demand that Pyongyang give up its nuclear arsenal.

Seoul's reunification minister has said there is a "considerable" chance that Trump and Kim will meet while the US leader is in South Korea, mainly for a regional summit.

Trump said he also expected to meet Brazilian President Luiz Inacio Lula da Silva on the sidelines of the Asean summit in Kuala Lumpur, Malaysia, to improve ties with the leftist leader after months of bad blood. (AFP)