Sheikh Mohamed bin Zayed received the president of Eritrea at a Sea Palace barza in Abu Dhabi on Monday.
The Crown Prince of Abu Dhabi and Deputy Supreme Commander of the UAE Armed Forces held a meeting with President Isaias Afwerki and Sheikh Mansour bin Zayed, Deputy Prime Minister and Minister of Presidential Affairs.
The men discussed potential opportunities for increased co-operation between the UAE and Eritrea that would benefit the citizens of both countries. They also reviewed regional and international developments.
Sheikh Mohamed also met Mr Afwerki in February, when they spoke of ways to bolster links between the Emirates and the east African country.
It was the latest in a series of meetings between the two men since Eritrea struck a peace deal with Ethiopia.
Mr Afwerki and Ethiopian Prime Minister Abiy Ahmed agreed a peace deal in 2018 and later met in Abu Dhabi after years of conflict.
The thaw in relations accelerated in June last year when Mr Abiy said Ethiopia would accept a UN-approved ruling, made after a two-year war, and also hand back disputed territory.
Ethiopia and Eritrea re-established diplomatic relations in July and signed a declaration of peace and friendship in the Eritrean capital Asmara.
The UAE has supported efforts to forge peaceful relations between the countries.
Sheikh Mohamed bin Zayed later met competitors in the Asian Muay Thai Championship and the chairman of the UAE Muay Thai and Kickboxing Federation, Abdullah Al Neyadi.
He also received members of the Tolerance and Coexistence Programme by the Emirates Centre for Strategic Studies and Research think tank.