Enver Hoxhaj has become the first government minister from Kosovo to officially visit Serbia since his country unilaterally seceded in 2008.
Serbia has not recognised the independence of its former southern province. More than 100 other countries have done so.
"The dialogue should have ended with a peace treaty, which should include Kosovo's recognition as an independent state, which should allow Kosovo to get admission to the United Nations," said Hoxhaj, Kosovo's Foreign Minister, speaking on the sidelines of a regional ministerial meeting in Belgrade.
Albania also attended the talks, amid diplomatic tension with Serbia after a brawl at a football match last week.
Albanian Foreign Minister Ditmir Bushati said: "State affairs cannot be ruled by hooliganism, cannot be ruled by a football match."
A Euro 2016 qualifier match in Belgrade had to be abandoned after chaos broke out. A drone flew over the pitch bearing an Albanian nationalist flag. A Serbian player then dragged it to the ground and a tussle broke out involving players and fans.
