(Reuters) - U.S. President Joe Biden and the leaders of South Korea and Japan agreed at Camp David on Friday to deepen military and economic cooperation and made their strongest joint condemnation yet of "dangerous and aggressive behavior" by China in the South China Sea.

The Biden administration held the summit with the leaders of the main U.S. allies in Asia, South Korean President Yoon Suk Yeol and Japanese Prime Minister Fumio Kishida, in a bid to project unity in the face of China's growing power and nuclear threats from North Korea.

In a summit statement, the three countries committed to consult promptly with each other during crises and to coordinate responses to regional challenges, provocations, and threats affecting common interests.

They also agreed to hold military training exercises annually and to share real-time information on North Korean missile launches by the end of 2023. The countries promised to hold trilateral summits annually.

While the political commitments fall short of a formal three-way alliance, they represent a bold move for Seoul and Tokyo, which have a long history of mutual acrimony stemming from Japan's harsh 1910-1945 colonial rule of Korea.

The summit at the Maryland presidential retreat was the first standalone meeting between the U.S. and Japan and South Korea and came about thanks to a rapprochement launched by Yoon and driven by shared perceptions of threats posed by China and North Korea, as well as Russia after its invasion of Ukraine.

The leaders' language on China stood out as stronger than expected, and is likely to provoke a response from Beijing, which is a vital trading partner for both South Korea and Japan.

"Regarding the dangerous and aggressive behavior supporting unlawful maritime claims that we have recently witnessed by the People's Republic of China (PRC) in the South China Sea, we strongly oppose any unilateral attempts to change the status quo in the waters of the Indo-Pacific," the statement said.

The spokesperson for China's Washington embassy, Liu Pengyu, said the international community was able to judge who was increasing tensions.

"Attempts to cobble together various exclusionary groupings and bring bloc confrontation and military blocs into the Asia-Pacific are not going to get support and will only be met with vigilance and opposition from regional countries," he said.

It was Biden's first Camp David summit for foreign leaders and he said the woodsy venue had long symbolized "the power of new beginnings and new possibilities."

"If I seem like I'm happy, I am," he told a joint news conference with Kishida and Yoon, calling it a "new era" for the three countries. "This has been a great, great meeting."