Also in the Fox interview, Trump dismissed calls by Iraqi officials for U.S. troops to leave Iraq amid uproar from Iraqi Shi'ite groups over Soleimani's killing.
In 2018, Trump withdrew from the nuclear agreement signed under President Barack Obama that traded curbs on the program for the easing of sanctions.
The larger USA goal is to force Iran to negotiate a new agreement on limiting its nuclear program.
Soleimani's death sparked fury in Iran, where he was considered a hero, and Iranian leaders have vowed to avenge his death.
"We take issue with the violation of Iraq's sovereignty by Iran", al-Jubeir said on Friday during a news conference in Prague where he was on a routine diplomatic visit.
Although the Iranian foreign minister said the missile attacks on Iraqi bases by the United States armed forces had ended Tehran's response to the Soleimani assassination, the powerful Iranian Revolutionary Guards again threatened Washington on Thursday.
"We have to understand that the fight against Daesh is not over", said NATO Secretary General Jens Stoltenberg, who attended the meeting in the European Union capital and mentioned another name for the Islamic State group.
President Trump is saying Iranian General Qasem Soleimani had been planning attacks on four US embassies before his assassination.
"The United States will continue to counter the Iranian regime's destructive and destabilizing behavior", he said.
Trump ordered the January 2 strike on Qassem Soleimani after violent protests at the Baghdad embassy that the USA says Iran instigated.
Pelosi faulted the White House for failing to consult Congress before the drone strike that killed Qassem Soleimani in Baghdad last week.
Iran has gradually canceled its commitment to the agreement and the recent escalation of tensions between Iran and the United States has dealt further damage to the pact. Blaming the US decision to withdraw, Le Drian said Iran could get access to atomic weapons within "one or two years" if the deal continues to lose its substance.
Prime Minister Boris Johnson also reiterated his support for the deal in a phone call with Iranian President Hassan Rouhani.
Speaking to German broadcaster n-tv, German Foreign Minister Heiko Maas said "the door has been opened" to talks about conflicts in the region, not just Iraq and Iran but also Syria and Yemen.