Competition, not confrontation. The military chiefs of China and the US agree that further damage to ties should be avoided and the lines of communication should stay open. For more details, CGTN's Su Xiaoxiao reports.

Chinese Defense Minister and State Councilor Wei Fenghe met US Defense Secretary James Mattis on the sidelines of the ASEAN forum in Singapore on Thursday.

Wei stressed mutual trust and respect as keys to avoid confrontation. He also said China will not step away from Taiwan and South China Sea issues. Mattis says competition doesn't mean confrontation, and the Pentagon will continue military communications with China.

Their meeting comes amid escalating tensions in the South China Sea. Earlier this week, U.S. flew two B-52 bombers near the South China Sea for what it said was a 'routine training mission'. Beijing says it will take necessary measures to safeguard its sovereign and security interests.

LU KANG SPOKESPERSON, CHINESE FOREIGN MINISTRY "I would like to reiterate here that the Chinese side always respects and upholds the freedom of navigation and overflight enjoyed by other countries under international law, and firmly opposes to relevant country's act to undermine the sovereign and security interests of littoral countries and disrupt regional peace and stability under the pretext of freedom of navigation and overflight."

The Pentagon said the mission was consistent with international law.

Two weeks ago, a U.S. warship was warned off after it sailed within the 19 nautical kilometer territorial limit claimed by China.

Military ties between China and the U.S. have deteriorated after U.S. imposed economic sanctions against the Chinese army's logistic department last month.

Pentagon believes that China violated U.S. sanctions against Moscow by purchasing Russian fighter jets.

China said the deal is normal and in line with international law. Later, both sides seemed to be holding back from further military communication. Beijing recalled its naval chief from Washington during his visit. An annual bilateral security and diplomatic dialogue was also cancelled. Su Xiaoxiao, CGTN.