U.S. hails Korea talks, despite North's rejection of denuclearisation

(Adds U.S. agreeing missile sale to Japan, paragraph 23)

* North says nuclear weapons aimed only at the United States

* Pyongyang makes 'strong complaint' when denuclearisation raised

* North to send large delegation to Winter Olympics in South Korea

* Talks 'positive development' -U.S. State Department

By Christine Kim and David Brunnstrom

SEOUL/WASHINGTON, Jan 9 (Reuters) - North and South Korea held their first talks in over two years on Tuesday, which Washington welcomed as a first step to solving the North Korean nuclear weapons crisis, even though Pyongyang said those were aimed only at the United States and not up for discussion.

The U.S. State Department said Washington would be interested in joining future talks, but stuck to its insistence that they must be aimed at denuclearisation, showing that a diplomatic breakthrough remains far off.

In a joint statement after 11 hours of talks, North and South Korea said they had agreed to hold military to military talks and that North Korea would send a large delegation to next month's Winter Olympics in South Korea.

However, North Korea made a "strong complaint" after Seoul proposed talks to denuclearise the Korean peninsula.

"Clearly this is a positive development," a spokesman for the U.S. State Department, Steve Goldstein, said of the joint statement, while adding: "We would like nuclear talks to occur; we want denuclearisation of the Korean peninsula. This is a good first step in that process."

North and South Korea said they agreed to meet again to resolve problems and avert accidental conflict, amid high tension over North Korea's program to develop nuclear missiles capable of hitting the United States.

"All our weapons, including atomic bombs, hydrogen bombs and ballistic missiles, are only aimed at the United States, not our brethren, nor China and Russia," Pyongyang's chief negotiator, Ri Son Gwon, said.

"This is not a matter between North and South Korea, and to bring up this issue would cause negative consequences and risks turning all of today's good achievement into nothing," Ri said in closing remarks.

The White House and State Department did not respond to requests for comment on the United States being the only potential target of North Korea's nuclear weapons.

U.S. President Donald Trump and North Korean leader Kim Jong Un have exchanged threats and insults in the past year, raising fears of a new war on the peninsula.

The United States, which has 28,500 troops stationed in South Korea as a legacy of the 1950-1953 Korean War, initially responded coolly to the idea of inter-Korean meetings, but Trump later called them "a good thing" and said he would be willing to speak to Kim.