Metro Manila (CNN Philippines) — A "special friend who's closer than a brother."

President Rodrigo Duterte had nothing but kind words for Japan as he and Prime Minister Shinzo Abe issued a joint statement on Wednesday.

"Japan's official development assistance for the Philippines is second to none," Duterte said on his second day in Tokyo.

Describing his visit as a "defining moment in solid, strategic partnership between the two countries," Duterte mentioned various aspects of cooperation that were agreed upon — including respect for the rule of law, respect for basic human rights, and a free and open economy.

The two leaders also discussed continuous cooperation to maintain regional peace, stability and prosperity in the region — and the importance of a rules-based approach to the peaceful settlement of maritime disputes.

Related: Japan to join U.S. in South China Sea patrols

Duterte also thanked Japan for its intention to provide high-speed boats and other equipment to enhance the Philippines' anti-terrorism capabilities and the transfer of a TC-90s training aircraft.

Meanwhile, Abe accepted "with pleasure" an offer from Duterte to visit the Philippines at a convenient time, according to the Department of Foreign Affairs.

Foreign troops out by 2018

Earlier, Duterte spoke at an economic forum, where he again said all foreign military forces should out of the Philippines.

And gave a time frame: in two years.

"I want them out, and if I have to revise or abrogate agreements, I will," the President said.

Apart from the U.S., Australia also deploys troops to the country as part of another visiting forces deal.

Related: Duterte: I only want to see Filipino troops on PH soil

Duterte then continued to explain his anger with the United States — saying that instead of helping in the campaign against drugs, the country's supposed friend chose to "make it hard" for him.

"We will survive without the assistance of America. Maybe, a lesser quality of life, but we will survive," Duterte said. "If there is one thing I would like to prove to America and everybody is that there is such a thing as the dignity of the Filipino people."

The President had also said that his visit to China last week was solely about business, and nothing about military deals.

CNN Philippines' Ina Andolong contributed to this report.