Penny Wong is returning home after breaking a diplomatic deep freeze with China and raising concerns about two jailed Australian citizens.
The foreign minister met with her Chinese counterpart Wang Yi in Beijing on Wednesday, joined by a small delegation of high-level officials.
"We can grow our bilateral relationship and uphold both our national interests if both countries navigate our differences wisely," she said at the start of the meeting.
They discussed trade blockages, human rights and the detained Australians as well as global rules and norms that underpin security and prosperity.
"We have different views about how our political system should operate and we have different interests but we need to seek to manage those differences," Senator Wong said.
The pair discussed opportunities for further talks and Senator Wong suggested a "more structured dialogue" including meetings of trade and economic ministers.
"We have agreed to maintain high-level engagement and we've agreed to further dialogue in a range of those areas," she said.
The visit coincided with the 50th anniversary of Sino-Australian diplomatic relations.
Mr Wang told his counterpart that China and Australia had no fundamental conflicts of interest and they should use the anniversary to reorganise and restart relations.
"China and Australia have no historical grievances and no fundamental conflicts of interest and should and can become partners in mutual need," he told Senator Wong during their meeting, his ministry said in a statement.
Australia's foreign minister asked for journalist Cheng Lei and author Yang Hengjun to be reunited with their families "as soon as possible".
She also advocated for the resumption of consular access to foreigners in Chinese prisons.
"We advocate for a range of things," Ms Wong said after the 90-minute meeting.
"They include for those Australians to be reunited with their families as soon as possible but we also advocate for the observance of consular agreements."
Senator Wong also discussed human rights issues, including in Tibet, Hong Kong and the treatment of the Uyghur population in Xinjiang.
"Australia believes ... human rights are universal," she said.
Ties between Australia and its biggest trading partner have deteriorated in recent years, with China imposing sanctions on Australian exports after Canberra called for an international inquiry into the origins of COVID-19.
Senator Wong signalled there would be further developments on various trade issues related to "blockages" impacting about $20 billion worth of Australian exports following her meeting with Mr Wang.
She said it was in the interests of Australian exporters and Chinese consumers for the trade sanctions to be removed.