The secretary of State later described the discussion as “frank” and said the two discussed a variety of areas of disagreement, including Russia’s support for embattled Venezuelan President Nicolás Maduro.

“On Venezuela, we have disagreement. I urged my Russian colleagues to support the Venezuelan people as they return democracy to their country,” Pompeo said.

Pompeo also indicated that arms control was a major part of the discussion, following the Trump administration’s decision earlier this year to withdraw from a decades-old arms control pact that Washington has long accused Moscow of violating.

The top U.S. diplomat said he conveyed Trump’s desire to expand arms controls agreements to include more countries and weapons systems, saying it would be “important” to involve China in future agreements to the extent possible.

“The president wants serious arms control that delivers real security to the American people,” Pompeo said, noting the two countries would have “more extensive’ discussions about arms control going forward.

Pompeo also emphasized the desire of the Trump administration to improve relations with Russia in order to work on areas of mutual concern, describing Tuesday’s talks as “a good step in that direction.”

“We had a frank discussions about many issues, including many places we disagree,” Pompeo told reporters. “The United States stands ready to find common ground with Russia as long as the two of us can engage seriously on those issues.”

“President Trump has made clear that his expectation is that we will have an improved relationship between our two countries, this will benefit each of our peoples, and I think that our talks here today were a good step in that direction,” Pompeo added.

Lavrov likewise described the meeting as a “frank and useful conversation” meant to build on the one-on-one meeting between Trump and Russian President Vladimir Putin Vladimir Vladimirovich PutinNavalny released from hospital after suspected poisoning Ex-Trump national security adviser says US leaders 'making it easy for Putin' to meddle The Hill's Campaign Report: GOP set to ask SCOTUS to limit mail-in voting MORE in Helsinki last summer and the phone call between the two leaders earlier this month.

Lavrov in part blamed the low point in the U.S.-Russia relationship on the policies enacted under the Obama administration and special counsel Robert Mueller Robert (Bob) MuellerCNN's Toobin warns McCabe is in 'perilous condition' with emboldened Trump CNN anchor rips Trump over Stone while evoking Clinton-Lynch tarmac meeting The Hill's 12:30 Report: New Hampshire fallout MORE’s investigation into Russian interference in the 2016 election.

“Russia is interested in normalizing our dialogue and we’re convinced that is quite possible and real if we hold this dialogue on mutually respect and consideration of each other’s interest,” Lavrov said, according to a translation.

Pompeo’s trip to Russia, which was also slated to include a meeting with Putin, comes weeks after Mueller’s report into Russian interference was released. The 448-page document provided an exhaustive account of Kremlin-backed efforts to use social media and the release of hacked material to meddle in the 2016 vote to sway it in Trump’s favor.

Mueller did not ultimately establish that members of Trump’s campaign conspired with Russia to meddle in the election, a result Trump has cheered as vindicating him and his associates of allegations of Russia “collusion.”

Trump said Monday he plans to meet with Putin on the sidelines of the Group of 20 (G-20) meeting in Osaka, Japan, at the end of June.