Some diplomats had expected the United States, Japan and South Korea to ask for the 15-member U.N. Security Council to meet on Monday over the test. Haley said on Sunday that the United States saw "no point in having an emergency session if it produces nothing of outcome".
US Vice President Mike Pence said Sunday during a visit to Estonia that the US and its allies plan to increase pressure on North Korea to end its nuclear program. "China must decide whether it is finally willing to take this vital step", she said in the statement.
Haley had said last week her team was "constantly in touch with China and I can say that things are moving" toward a proposed new UN Security Council resolution.
China has yet to officially respond to Trump's tweet, but State-run Chinese tabloid the Global Times said in a Monday editorial that Trump's "wrong tweet" was of no help to resolving the situation, and that he did not understand the issues.
The United States and Russian Federation have waged rival campaigns at the Security Council over the type of ballistic missile fired by North Korea on July 4.
Washington has been pushing for tougher sanctions on North Korea in the face of resistance from China and Russian Federation.
North Korea threatens a nuclear strike 'at the heart of the US'
Haley had been aiming for a vote by the 15-member Security Council within weeks, senior diplomats said. Liu said "there is going to be more than the last resolution".
Speculation had been rife that Washington would seek an emergency session of the Security Council, but Haley shot down such suggestions, stating simply: "That is mistaken".
North Korea is already subject to a slew of Security Council resolutions that punish the regime in Pyongyang for its missile and nuclear tests.
North Korea on Friday tested a Hwasong-14 for the second time this month, reaching an altitude and distance in the test that defense experts believe indicate the missile could reach the continental United States, including Los Angeles and Chicago.
Haley also went on to criticise China's lack of action against North Korea, something US President Donald Trump did vocally just a day earlier.
"If the two heads of state talk, they will likely discuss their respective stances on North Korea, the U.S".
Under Kim Jong-Un's leadership, North Korea has accelerated its drive towards a credible nuclear strike capability, in defiance of worldwide condemnation and multiple sets of United Nations sanctions. We will no longer allow this to continue.