Witold Waszczykowski also said he hoped London would remain active in all key EU debates as long as the UK remains part of the bloc.
He was speaking after meeting Britain’s Brexit Secretary David Davis at the foreign ministry in Warsaw.
Waszczykowski also said Poland and the United Kingdom shared many common interests in various areas.
On Wednesday, Davis and the UK’s Minister of State for International Trade, Greg Hands, were in Warsaw for talks with Polish government officials in the hope of breaking a deadlock in ongoing Brexit negotiations.
Davis met Waszczykowski and Konrad Szymański, Poland’s deputy foreign minister in charge of European affairs, according to the Polish foreign ministry.
Davis "briefed us on Britain’s assessment of the state of negotiations ahead of the next round of talks in Brussels on November 9-10,” Waszczykowski said, as quoted by his ministry in a statement.
He added that Poland was in favour of a quick start of talks on future relations between the EU and Britain.
Before Brexit talks can move on to this stage, sufficient progress must first be made on questions such as citizens' rights and on financial issues, the Polish foreign ministry said in the statement.
‘Excellent state of bilateral relations’
According to the Polish foreign ministry, the ministers were agreed on the "excellent state of bilateral relations" and pointed to forms of cooperation such as meetings between the two countries’ foreign and defence ministers as part of the so-called "Quadriga format", the last round of which took place on October 12 in London, as well as intergovernmental consultations of which the next round is scheduled to take place in Warsaw on December 21.
Meanwhile, Hands was scheduled to hold talks with Polish Deputy Development Minister Tadeusz Kościński, Deputy Maritime Economy and Inland Navigation Minister Anna Moskwa and Foreign Ministry officials in Warsaw on Wednesday.
A longtime chairman of the Conservative Friends of Poland group in Britain, Hands was due to discuss the future of Polish-British trade after his country’s departure from the EU as well as issues related to UK investment in Poland.
The Warsaw visit by both UK officials was part of a British diplomatic offensive ahead of a key European Council meeting in December. It came a day before the sixth round of talks between the UK and the European Commission in Brussels on Thursday.
'Unsatisfactory' progress of Brexit talks
On October 13, Polish Prime Minister Beata Szydło said that Poland was satisfied with Brexit negotiations over citizens’ rights, but progress made on financial issues was "unsatisfactory."
Speaking in the Slovak capital Bratislava, where she met other Central European heads of government, Szydło said: "We are pleased with progress made on citizens' rights, but the headway on financial issues is unsatisfactory, so for now it is impossible to move to the second stage of negotiations."
A day earlier the EU's chief negotiator Michel Barnier and Britain’s Brexit Secretary Davis said that the expected progress had not been achieved in the UK's exit talks with the EU.
Britain launched the two-year process of leaving the European Union on March 29.