Singh said he would be "happy to visit Pakistan at a mutually convenient time," but he wants Sir Creek and visa restriction issues resolved first, India's NDTV reported.
Zardari visited with Singh in New Delhi as a stopover on a personal trip to visit the Dargha, or shrine, in Ajmer.
Unnamed sources told NDTV the two leaders agreed the Sir Creek issue should be resolved soon -- the disputed creek divides Kutch in India's Gujarat state and Sindh province in Pakistan.
Singh also told Zardari it was imperative to prosecute Hafiz Saeed, the founder of the terror group Lashkar-e-Taiba, who roams free in Pakistan. Singh said India has enough evidence to prove Saeed is behind a Mumbai terror attack in 2008, NDTV said.
After the lunchtime meeting, Singh said the two had "constructive talks" and were "willing to find practical, pragmatic solutions on all issues."