Aquino and the two envoys made the promise on the anniversary of the "Fall of Bataan", marking the surrender of US and Philippine forces to Japanese invaders in 1942.
"We stand united with former allies and foes in continued pursuit of widespread peace and prosperity throughout the world," Aquino said at the Mount Samat shrine overlooking the Bataan battlefield.
Aquino cited the swift assistance extended by the US and Japan particularly during disasters like Super Typhoon Haiyan in 2013 as an example of the generosity of these two countries.
But he added that Japan had since become a democratic nation, a close partner and ally of the Philippines and US.
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The Philippines and Japan have been broadening their security cooperation at sea as they both deal with their own respective maritime territorial disputes with an increasingly aggressive China.
The US has also been expanding its own defence cooperation with the two country's as part it's strategic "pivot to Asia".
Malaysian Zulkifli Abdhir was killed in the raid, while Filipino Abdul Basit Usman, who the US describe as a "bomb-maker", escaped.
But the heavy death toll proved an embarrassment to Aquino, and raised questions about the US role in the operation as American personnel were apparently monitoring the Filipino forces.
Goldberg stressed that the US mutual defence treaty with the Philippines was "ironclad".
His remarks came amid concerns over the extent that the US would support the Philippines in a dispute with China.
"Let us not forget that 70 years after the end of World War II, we are joined in our efforts to protect the security and defence of this region by Japan. Yesterday's enemies are today's allies and strategic partners," the US envoy added.