The answer is no - the Russian early-warning radars could not see the missiles that North Korea launched on July 4th - their trajectories were too low for that. The only possible exception would have been the allegedly long-range Taepodong II had it survived a bit longer - the radar in Mishelevka would have probably seen it after about 90 seconds into the flight. But since its flight was terminated at about 40 seconds, the radar did not have a chance.
The answer is even easier with satellites - Russia does not have any that would be able to see a launch from North Korea. The United States, in contrast, has four (!) DSP satellites, looking at North Korea - DSP F-21 at 70E, DSP F-22 at 130E, DSP F-18 at 145E, and DSP F-17 at 165W (here is the larger version of the picture). With this kind of coverage, it is certain that the United States was able to get a fairly good look at the launches.