The two praised the recently established practice of more frequent high level bilateral meetings which should contribute to better understanding between the two countries, Macedonia's MIA news agency said.
"Both societies communicate and cooperate without any problems. Such communication will undoubtedly increase with the visa liberalisation," Ivanov was cited by MIA as saying after the informal talks.
Ivanov reaffirmed his invitation to Greek President Karolos Papoulias to visit his country.
There were no details whether the long standing name spat between the two neighbors, was tackled.
Ivanov said that the 18 years long row is a consequence of past times and old prejudices. He expressed hope that Greece would overcome its prejudices and stop blocking Macedonia’s NATO and EU integration.
In the last two months Greece's Prime Minister has met his Macedonian counterpart Nikola Gruevski twice. He has also talked to Macedonia’s Foreign Minister Antonio Milososki. These meetings come after nearly four years of virtually no high level bilateral meetings.
Earlier this month Greece blocked the EU from offering Macedonia a start date for EU accession negotiations. Last year it vetoed Macedonia's entry into NATO, and said it will continue to do so until Macedonia changes its constitutional name.
Ever since Macedonia gained independence in 1991, its name has been the subject of a bitter dispute with southern neighbor, Greece.
The longstanding mediator between Athens and Skopje, Matthew Nimetz, rarely reveals his feelings – but admits regret that the name ‘New Macedonia’ didn’t stick.
Placing the statue of Alexander the Great in the centre of Skopje is an unintentional allegory for the end of transition in Macedonia.
The continued blockade of Macedonia’s NATO hopes - which we’re seeing once again at the Chicago summit - shows the West still prefers the principle of solidarity to obedience to international law.