Spears also praised Cyrus' raunchy music video for "We Won't Stop" earlier this week, Reported Us magazine.
"Loving your new video for WeCantStop!," Spears tweeted.
"Maybe you can teach me how to twerk sometime LOL," added the 31-year-old singer.
Cyrus, 20, responded with a similarly cheeky tweet.
"We could twerk it out in exchange for you teaching me the moves to 'Slave 4 U' (I've been practicing for the past 10 years," she replied.
Spears' steamy music video for dance track "I'm a Slave 4 U" first premiered in 2001.