The leaders agreed to foster comprehensive cooperation that advances the goals of their peoples and build close political, economic, social, cultural and security ties.
The three leaders also agreed to work in coordination to promote regional peace and security.
The agreement followed the re-opening of Ethiopia’s embassy in Asmara by the visiting Ethiopian Prime Minister Abiy Ahmed, three months after the two neighbouring states ended two decades of enmity.
The Somali leader has also visited Eritrea recently in a sign of peace reigning in the Horn of Africa region.
The meeting followed the first initiative of the Joint High-Level Committee established by the three countries at the tripartite summit held in Asmara on Thursday.
Meanwhile, President Ismail Omar Guelleh of Djibouti has expressed Djibouti’s readiness for reconciliation and normalization of its strained relations with Eritrea.