Ambassador Kerim Uras was asked to respond to calls that Recep Tayyip Erdogan should be charged with war crimes.
Turkey's defence ministry said about 20 others were wounded when the bomb exploded in central Tal Abyad, which was captured last month by Turkey-backed opposition gunmen from Kurdish-led fighters.
The fighting underscored the risks of violence as multiple and often opposing armed forces jostle for new positions in the tight quarters of the northeastern border zone.
Syrian Kurdish-led forces and Turkey exchanged blame on Saturday for fighting that has rattled a U.S.-brokered cease-fire in northeastern Syria, as the Kurds appealed to Vice-President Mike Pence to enforce the deal.
The deal is designed to allow Kurdish forces to withdraw from a designated safe zone on the northern border.
Condemnation of his stance was quick and severe, not only from Democrats but from Republicans who have been staunch Trump supporters on virtually all issues.
Russia said it was working to prevent a conflict between advancing Turkish and Syrian government forces on Wednesday, as Turkey’s president defied growing pressure and sanctions from Western allies for a cease-fire in northern Syria.
Canada has been vocal in its disapproval of Turkey's recent actions since the country began a military operation in northern Syria last week.
Esper isn't saying how many U.S. troops will leave the north, but he says they represent most of the 1,000 troops in Syria.
"With all of that being said, we like the Kurds," Trump said.
The two British militants are believed to be part of an Islamic State group that beheaded hostages and was known as "The Beatles."
Canada's Foreign Affairs Minister Chrystia Freeland said the unilateral action by Turkey risks rolling back the progress against militants affiliated with the Islamic State, also known as Daesh.
Turkey launched its offensive Wednesday against Kurdish fighters in Syria, who have helped the U.S. against the Islamic State.
Turkey launched a military operation against Kurdish fighters in northeast Syria on Wednesday, with air strikes hitting the border town of Ras al Ain.
Erdogan dubbed the operation as "#OperationPeaceSpring," in his tweet.
Turkey has long threatened an attack on the Kurdish fighters in Syria whom Ankara considers terrorists allied with a Kurdish insurgency within Turkey.
His announcement immediately drew pushback from Republican lawmakers.
Press secretary Stephanie Grisham says U.S. troops “will not support or be involved in the operation” and “will no longer be in the immediate area.”