Their talks, the highest level Sino-US encounter since President Donald Trump was elected, had appeared unlikely after he infuriated Beijing by calling into question Washington's long-standing "One China" policy.
Trump however reaffirmed the position in a conciliatory phone call to Chinese President Xi Jinping, mending fences enough for Wang to come to Bonn for a G20 foreign ministers meeting.
"Secretary Tillerson and Minister Wang noted the recent call between leaders and discussed efforts to advance bilateral cooperation while addressing differences in a constructive manner," Mark Toner, acting US State Department spokesman, said.
China is North Korea's last major ally and has shown itself reluctant to put too much pressure on Pyongyang.
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In the meantime, reclusive North Korea has made huge strides in both its missile and nuclear weapons programme to the point where it could acquire the capability to hit the US mainland.
Washington has led international efforts to get Pyongyang to reverse course, including imposing sanctions, but all to no avail as its regional allies take fright at North Korea's ambitions.
"The United States remains steadfast in its defence commitments to its allies, the Republic of Korea and Japan, including the commitment to provide extended deterrence, backed by the full range of its nuclear and conventional defence capabilities," Tillerson said in a joint statement with their foreign ministers.
Washington's recent decision to install a sophisticated THAAD anti-missile system in South Korea especially angered China which condemned the move as a potential threat to its own security.
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