US President Donald Trump on Saturday urged Japanese businessmen to increase their companies' investment in the United States and said Japan had a large trade surplus with Washington, which negotiators are trying to offset.

Trump arrived in Japan earlier in the day for a visit that includes many ceremonies and aims to show the strength of relations with Tokyo, despite impending trade tensions.

Washington and Tokyo are trying to reach a trade deal, while Trump has not missed an opportunity to denounce what he sees as a trade imbalance between the two countries.

Trump said to senior Japanese business managers that there has never been a better time to invest in the United States than it is now.

He said he hoped to discuss the imbalance in trade between the United States and Japan to ensure justice and reciprocity.

"Japan has had a huge trade advantage for many, many years," Trump said. "It's OK. Maybe you're so impressed."

Trump ties Prime Minister Shinzo Abe with a friendly relationship Abe is seeking to confirm, while Washington is considering imposing tariffs on Japanese car imports, which Trump considers a potential threat to national security.

Trump and Abe are expected to discuss the trade issue during their talks on Monday, but officials have played down the possibility of reaching an agreement during the visit.

US Trade Representative Robert Laitheiser is expected to hold talks with his Japanese counterparts on the sidelines of the visit.