Atleast with an ICBM you are talking about velocities that are still close to suborbital, ie over a kilometer per second, Quora sets the terminal phase velocity at 30'000 kph (around Mach 30, pi by thumb, of by around 20%)
Hitting something that is moving at Mach 30 towards you is already hard. Especially considering this thing moving towards you is also burning up in the atmosphere, thus you only have that bright spot which will be larger than the actual missile core. However, if it's moving exactly (or almost) at you, it's not impossible but still hard.
If it is not moving towards you but rather along your view, you have to match a significant portion of it's speed, which basically means building a ICBM to hit another ICBM. And going that fast takes a while.
If it's moving away from you, you can always give up.