The Iranian Foreign Minister tells the Federal Government Iran would welcome back asylum seekers who fail to obtain refugee status in Australia, but only if they go home voluntarily.

Key points: Mohammad Javad Zarif says Iranian citizens who come voluntarily would be taken 'with pride'

Mohammad Javad Zarif says Iranian citizens who come voluntarily would be taken 'with pride' Labor says assurances of safety should be sought before any deal confirmed

Labor says assurances of safety should be sought before any deal confirmed Dr Zarif says Iran's missiles will not be used to attack other countries

Australia has been trying to strike a deal with Iran to forcibly repatriate asylum seekers who fail to obtain refugee status in Australia.

Foreign Minister Julie Bishop discussed the issue in a meeting with her Iranian counterpart, Mohammad Javad Zarif, during his visit to Canberra on Tuesday.

"We don't have any objection to Iranian citizens coming back to Iran voluntarily and we are working to allow them enable them to come back voluntarily," Dr Zarif said.

"We cannot force anybody to come back to Iran. But if anybody wants to come back voluntarily we always take our citizens with pride."

But Labor's spokeswoman on foreign affairs Tanya Plibersek has voiced concerns.

Ms Plibersek told the ABC that assurances should be sought before any deal was confirmed.

"I think Australia would have to have some very strong assurances that people would be safe in returning to Iran," she said.

"We know that journalists continue to be prevented from doing their work, we know that people are executed for being gay.

"It is a country that has a pretty poor human rights record, so you would need some very strong assurances that people are going to be safe on return."

Iran pressed to give assurances on missile program

Ms Bishop said she also questioned Dr Zarif about Iran's ballistic-missile program during the meeting.

The Islamic Revolutionary Guard Corps recently test-fired several missiles in a move that was seen as a challenge to a United Nations resolution and a 2015 nuclear deal, which saw Tehran agree to curb its atomic program in exchange for the lifting of economic sanctions.

Dr Zarif said he reassured Ms Bishop the missiles would not be used to attack other countries.

"We will not use those missiles against anybody except in self-defence," he said.

"And we challenge those who question our missiles program to make the same statement — simply to make the same statement that they will not attack other countries."

The pair also discussed working together to improve trade and fight Islamic State and other extremist groups.