Cameron had angered the Pakistanis on his recent trip to India when he said that elements in the country should not be allowed to "promote the export of terror whether to India, whether to Afghanistan or to anywhere else in the world.”
Zardari also came under criticsm for agreeing to travel to the UK after the remarks and also in the light of the devestating floods in the north-west of Pakistan that killed at least 1,500 people.
Cameron said that they had discussed the nations' "mutual interests", in particular "our strategic partnership and how we can deepen and enhance that partnership."
"Whether it is keeping troops safe in Afghanistan or keeping people safe on the streets of Britain, that is a real priority for my government and somewhere where, with Pakistan, we are going to work together," he said.
Zardari said he was grateful to the UK and the prime minister for their support in the
floods affecting Pakistan. "Storms will come and storms will go, and Pakistan and Britain will stand together and face all the difficulties with dignity, and we will make sure that the world is a better place for our coming generations."
Cameron has now also accepted an invitation to visit Islamabad soon and agreed to a yearly summit.