It wasn't immediately clear what type of ballistic missile was launched, the seventh such firing this year, although the U.S. Pacific Command said that "the flight is not consistent with an intercontinental ballistic missile".
Choe did not elaborate on what the North's conditions are, but her comments raise the possibility of North Korea and the US returning to negotiations for the first time since 2008, when six-nation talks over Pyongyang's nuclear weapons program fell apart.
Experts said Sunday's test showed a considerably longer range than missiles North Korea had previously tested, meaning it had likely made improvements since its February test.
It was launched from the same site where North Korea fired two mystery missiles that some analysts thought could have been intercontinental ballistic missiles capable of reaching the mainland United States.
A statement said that the missile was sacked from near Kusong City, in North Phyongan province, and that the South Korean and USA militaries are analyzing the details.
"Despite strong warning from the global community, North Korea launched a ballistic missile again", Abe said.
North Korea fired a ballistic missile early Sunday, sending it from a launch site near its border with China some 450 miles into the sea between the Korean Peninsula and Japan.
President Trump has been briefed on the latest missile test by North Korea.
The White House took note of the missile landing close to Russia's Pacific coast and said in a statement that North Korea has been "a flagrant menace for far too long".
North Korea to extradite anyone involved in alleged Kim Jong Un assassination
The North, however, defends its right to develop nuclear and ballistic technology as a deterrent against the U.S. and its regional allies.
"In a press statement, the North's mission also accused the United States of trying to intimidate countries into fully implementing UN sanctions by "openly threatening that they would be faced with "strong measures of sanction" by the USA".
"If China doesn't help us - so far they've helped a little bit, but not enough - if they ultimately decide not to help us, then we need to start sanctioning China, especially for its transfer of ballistic missile technology to North Korea".
The launch also comes as troops from the U.S., Japan and two European nations gather near Guam for drills that are partly a message to North Korea.
Japanese Prime Minister Shinzo Abe told reporters that the launch was "absolutely unacceptable" and that Japan will respond resolutely. She says more analysis was needed.
South Korea's newly elected President Moon Jae-in has also expressed willingness to visit Pyongyang under the right circumstances.
On Wednesday, the CIA stepped up its battle against North Korea with the establishment of a "Korea Mission Center" that will combine resources, capabilities and authorities from across the agency and direct them at Pyongyang.
In Tokyo, the Japanese government said the missile flew for 30 minutes.
One recent test by the North, held in early March, saw three missiles fall provocatively close to Japan, sparking alarm in Tokyo.
A senior Pyongyang diplomat also said Saturday the North would be willing to hold talks with the United States if the conditions are right.
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