Thursday's meeting was held, according to Cuban authorities, "with the aim of contributing to political dialogue."
The United States has not commented on the meeting. President Donald Trump wrote earlier this week on Truth Social that the two countries would begin talks.
Cuban President Miguel Díaz-Canel responded on Thursday to President Donald Trump and Secretary of State Marco Rubio's offer of $100 million in emergency aid, saying Cuba would rather see sanctions relief than aid.
"The damage would be repaired much more easily and much faster if the blockade were eased, since it is known that the humanitarian situation is coldly calculated and a deliberate consequence of it," he said, referring to the US oil blockade.
