“I will not go to America anymore,” he added. “I will just be insulted there.”

Revoking the alliance with the United States would alienate Philippine citizens — and the military — which has strongly favored Washington.

Although Mr. Duterte, who took office in June, is popular at home, the people there hold more positive attitudes toward the United States, the former colonial power, than the president does.

A poll by the Pew Research Center in 2015, about global attitudes toward the United States, showed that 92 percent of Philippine residents held a favorable view of the United States, the country with the highest showing in Asia.

It is unclear when talks on the South China Sea would start or what their focus would be.

However, Mr. Duterte signaled Wednesday night that one obstacle to such discussions — a July ruling on the disputes by an international tribunal in The Hague, which was overwhelmingly in the Philippines’ favor — could be overcome. China has refused to abide by the court’s ruling, and Mr. Duterte said Wednesday that the tribunal’s decision would “take a back seat.”

Under Mr. Duterte’s predecessor, Benigno S. Aquino III, the Philippines cut off bilateral discussions of their conflicting South China Sea claims in 2012, after China seized the disputed Scarborough Shoal and drove Philippine fishermen from it.

On Thursday, the two sides agreed to establish a joint coast guard committee on maritime cooperation, a potentially significant step because Chinese Coast Guard vessels have been keeping Philippine fishing boats from Scarborough Shoal.

In a gesture to Philippine fishermen, China’s vice foreign minister, Liu Zhenmin, said China would provide assistance with aquaculture and the commercial processing of fish, an issue that Mr. Duterte has emphasized. Mr. Liu said that the countries’ relationship was back to “full recovery” and that they would hold talks on broader defense and security issues, which had also been halted under Mr. Aquino.