The two officials spoke in the wake of North Korean leader Kim Jong Un's threat last week to send missiles into the waters off Guam, a United States territory in the South Pacific.
McMaster said President Trump's references to the USA military being "locked and loaded" is an effort to maintain peace, not provoke war.
President Donald Trump warned that North Korea would face "fire and fury" if it issued any more threats to the US.
Pompeo said "there's nothing imminent today", in response to a question about how anxious should people be over the escalating tensions.
McMaster said the threat from North Korea to the world is "very, very clear".
"I am quite confident that (North Korean leader Kim Jong Un) will continue to try to develop his missile program, so it wouldn't surprise me if there was another missile test", U.S. Central Intelligence Agency Director Mike Pompeo said on "Fox News Sunday".
Trump has also insisted that "nobody loves a peaceful solution better than President Trump". The CIA chief described Kim as "rational" and responsive to "adverse circumstances".
Trump wrote on Twitter on Friday that U.S.
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Still, he said Americans shouldn't be alarmed. Dunford, the chairman of the Joint Chiefs of Staff, told reporters traveling with him that he aims to "sense what the temperature is in the region".
"We're not closer to war than a week ago. I have President Trump's back on this". China is the North's biggest economic partner and source of aid, but says it alone can't compel its wayward ally to end its nuclear and missile programs.
President Trump over the past week has intensified his rhetoric against North Korea.
White House officials have insisted the investigation was not created to apply additional pressure on China as it relates to North Korea despite the president's previous remarks that he would be more amenable on trade if China stopped Pyongyang's nuclear program.
The White House said in a statement that Trump and Xi "agreed North Korea must stop its provocative and escalatory behavior". "It is probably fair to say they are moving toward that at an ever-alarming rate", he said when asked whether North Korea has nuclear weapons capable of hitting the U.S.
But Trump on Friday appeared to set another red line - the mere utterance of threats - that would trigger a USA attack against North Korea and "big, big trouble" for Kim.
The tough talk capped a week in which long-standing tensions between the countries risked abruptly boiling over. "But make no mistake about it. the increased chance that there will be a nuclear missile in Denver is a very serious threat".
In an interview with German newspaper group RND, Gabriel said the manoeuvres "could lead to North Korea using the opportunity for renewed provocation, for example, by firing an intermediate-range missile at Guam".