Zarif made the remarks in separate meetings with the new ambassadors of Denmark, Norway and Iraq to Iran.
"We are ready to cooperate with our friends all over the world," Zarif said on Sunday.
The new ambassadors of Iraq, Norway, and Denmark in Tehran submitted copies of their credentials to the Iranian foreign minister on Sunday.
Nasir Abdul Mohsen Abdullah Taki is the new Iraqi ambassador in Tehran, Sigvald Tomin Hauge is also the new Norwegian ambassadot in Iran, and Jesper Vahr will serve as new Danish envoy to the Islamic Republic.
The outgoing Tunisian ambassador to Tehran, Tarek Bettaieb, also met with Zarif at the end of his mission in the Islamic Republic of Iran.