TOKYO (Kyodo) -- The foreign ministers of Japan and China on Wednesday both expressed hope to visit each other's countries in order to boost ties, at a time when the relationship between the two Asian powers remains strained.

Japanese Foreign Minister Takeshi Iwaya, who attended a forum on Japan-China relations in Tokyo, and top Chinese diplomat Wang Yi, who sent a video message to the event, stressed the importance of resolving pending issues to strengthen ties.

Iwaya said at the opening of the two-day discussions through Thursday that there have been some "positive" developments for bilateral relations recently, citing China's resumption last week of its visa-free arrangement for short-term Japanese visitors.

"The Japan-China relationship has begun to move forward vigorously again, so I want to visit China as early as possible to further push this move," Iwaya said, underscoring the need to strengthen communication "at all levels in a wide range of fields."

Wang said he also wants to visit Japan "at an appropriate date," adding that working together to restore the global order and peace is a "duty" for Tokyo and Beijing.

Wang expressed concern about the policies of the incoming U.S. administration under President-elect Donald Trump, who is known for his "America First" unilateralist approach and hard-line stance on China.

China and Japan are facing "the spread of protectionism" and should defend Asia's unity together, Wang said.

The forum took place amid lingering tensions over the Japanese-controlled, Chinese-claimed Senkaku Islands in the East China Sea, and the continued discharge of treated radioactive water from Japan's tsunami-hit Fukushima Daiichi nuclear power plant into the ocean.

Last month in Peru, Japanese Prime Minister Shigeru Ishiba and Chinese President Xi Jinping agreed during their first meeting to foster "mutually beneficial" and "stable" relations, and arrange reciprocal visits by their foreign ministers at an appropriate time.

According to Japanese government sources, Iwaya is planning to visit China in late December for talks with Wang.

At the forum, held in person in Tokyo this year for the first time in six years, scholars and key figures from political and business circles from the two nations have exchanged views on wide-ranging topics regarding bilateral cooperation.

Cochaired by Japanese nonprofit think tank Genron NPO and the China International Communications Group, the annual forum has been held since 2005.