A pair of US Air Force B-1 Lancer bombers accompanied by fighters from Japan flew near the Korean Demilitarized Zone in a direct message to the North Korean government after their latest missile launch last week.

The two B-1 bombers flew 2,000 miles from Anderson Air Force Base in Guam to conduct a precision strike training exercise with South Korean fighter jets. The bombers were also joined by Japanese fighters during their flight.

The Air Force, in a statement, called the mission a “demonstration of the ironclad U.S. commitment to our allies.”