North Korea has test-fired sea-to-surface strategic guided cruise missiles, state news agency KCNA reported Sunday, adding that the weapons “precisely” hit their targets.

“The war deterrence means of the armed forces of the DPRK are being perfected more thoroughly”, North Korean leader Kim Jong Un said as he oversaw Saturday’s test, the agency reported.

The missiles hit their marks after travelling along the 1,500-kilometre (930-mile) elliptical and figure-eight orbits, the report said, adding that there was “no negative impact on the security of neighbouring countries”.

KCNA did not say where the test took place.

On Sunday, KCNA carried a statement from North Korea’s foreign ministry criticising Washington and Seoul for carrying out joint military drills in recent days.

“The reality stresses that the DPRK should counter the US with the toughest counteraction from A to Z as long as it refuses the sovereignty and security interests of the DPRK,” the statement said, referring to North Korea by its official acronym.

“This is the best option for dealing with the US.”

Such joint military exercises regularly infuriate the nuclear-armed North, which decries them as rehearsals for invasion.