Talking to the media at the airport, he said there were suspicions on both sides which should be addressed.
He said no Pakistani was in favour of confrontation with the USA. Qureshi, however, suggested that efforts to improve ties should be made on the basis of equality and mutual respect.
The former foreign minister said the US needed Pakistan's help and added that we have to revisit our terms of engagement with the United States.
When asked, Shah Mehmood Qureshi said that Pakistan had strength to survive without the US support, however, it could only be done by reinvigorating national consensus and commitment.
To a question, Qureshi said usually foreign ministry had the dominant role in international relations all over the world.
However, the institutions which give their feedback should do their job but foreign office should be the front face.
When asked about criticism on the role of intelligence agencies, Qureshi said that he was happy to observe the sense of unity in the joint in-camera session of the parliament.
He added that people of Pakistan loved the armed forces and soldiers were our brothers and part of us.
Qureshi said that he had asked a few questions during the joint in-camera session of parliament but did not find answers.
However, he added that some important decisions were taken at the joint sitting which included formation of a independent commission to fix responsibility and recommend measures to stop recurrence of such incidents.
He said that a unanimous resolution was also passed that drone attacks should be stopped.