The “wrong judgment and acts” of the US meant instability could not be resolved, he said in an address to the “Self-Defence 2021” display, according to the official Korean Central News Agency.
Pyongyang is under multiple international sanctions over its banned nuclear weapons and ballistic missile programmes, which have made rapid progress under Kim.
In 2017, it tested missiles that can reach the whole of the continental United States and carried out its most powerful nuclear explosion to date. Pyongyang says it needs its arsenal to protect itself against a US invasion.
Analysts say North Korea is seeking to normalise its status as a nuclear power.
The Biden administration has repeatedly stated that it has no hostile intent towards Pyongyang, but Kim said: “Its behaviours provide us with no reason why we should believe in them.”