Go to time marker 5:42 of the interview with ABC. I hate fake news Stephanopoulos, but this is a good QProof.
https://www.youtube.com/watch?v=00G-mUn12os
Also referenced at:
https://www.straitstimes.com/singapore/trump-acknowledges-he-spoke-to-north-koreas-kim-jong-un-before-the-singapore-summit