Shaking hands with Zardari after a formal meeting at picturesque Chequers country retreat, Cameron said, that they had discussed how to "deepen and enhance" their strategic partnership.
Speaking after their hour-long meeting, both leaders sought to present a picture of cordiality even as Cameron said the talks included efforts to work with Pakistan to combat terrorism and keep people safe on the streets of Afghanistan and Britain.
But the two steered clear of any mention in public of Cameron's remarks in India that Pakistan should not be allowed to "promote export of terror whether to India, whether to Afghanistan or anywhere else in the world."
They read out televised statements, but refused to take any questions. "We dealt with all the issues where we want to make progress," the British Prime Minister said as he offered more help to Pakistan to cope with devastating floods.
Zardari who had vowed to confront Cameron head on over his remarks of Pakistan exporting terror said, "This is a friendship that will never break, no matter what happens."
"Storms will come and storms will go and Pakistan and Britain will stand together and face all the difficulties with dignity... we will make sure the world is a better place for coming generations," the Pakistan President said.
Though details of the talks were not released, BBC quoted Downing Street sources as saying, "Both the sides were pleased with how the meeting had gone."
The two countries agreed to hold an annual summit between the two governments and Cameron was invited to visit Pakistan "and will go soon", Downing Street sources said.
Islamabad and London also agreed to set-up of regular national security talks between top officials from both countries. Asked what was said about comments made by Cameron in India, his aide told BBC, she could not go into that."
Zardari, who was under pressure to cancel the visit to protest against Cameron's comments and in view of floods back home, on Thursday night met Cameron for a dinner held in memory of his late wife, Benazir Bhutto.
Zardari, who earlier said he would do some straight talking with Cameron during the talks, said he was grateful to Cameron and the British people for their support to deal with floods in Pakistan.
He said he was looking forward to a relationship in which Britain supported Pakistan's position in international fora.
He also wanted a situation of more trade and less aid from Britain.
"We have been allies for years. Our friendship will never break," Zardari said.
Image: Britain's Prime Minister David Cameron greets Pakistan's President Asif Ali Zardari at Chequers near in England on Thursday Photograph: Kirsty Wigglesworth/Reuters