US President Donald Trump has said Brazilian Senator Flavio Bolsonaro can remain in the United States "as long as he wants", even as Washington and Brasilia appear to be exploring ways to ease diplomatic tensions following Brazil's presidential election.

Speaking to reporters at his Mar-a-Lago club in Palm Beach, Florida, on Saturday, Trump said he had no plans to meet Flavio Bolsonaro, who left Brazil for the US earlier this week after losing the October 25 presidential runoff to incumbent Luiz Inacio Lula da Silva.

The remarks came as US Secretary of State Marco Rubio and Brazilian Foreign Minister Mauro Vieira agreed to meet again in the coming weeks, signalling a possible diplomatic thaw after months of friction between the two countries.

Rubio said he had spoken briefly with Vieira on the sidelines of the Group of 20 foreign ministers' meeting in Atlanta, which was hosted by the US secretary of state. The two officials are expected to meet again ahead of a G20 leaders' summit scheduled to take place in Miami in December.

Trump says no plans to meet Flavio Bolsonaro

Trump's comments on Saturday came amid questions over whether his administration would support Flavio Bolsonaro's political ambitions following his defeat in Brazil.

A US official and another person familiar with the matter said Trump currently had no plans to back the Brazilian senator's political aspirations, despite allowing him to enter the United States.

Rubio also said the US government "was not involved directly in any of the moves" that led to Bolsonaro's departure from Brazil earlier this week.

Flavio Bolsonaro is the son of former Brazilian president Jair Bolsonaro, a far-right leader who is serving a prison sentence in Brazil after being convicted of plotting a coup following his defeat in the 2022 presidential election.

The younger Bolsonaro lost the October 25 runoff to Lula, who secured another term as president. His arrival in the US and Washington's decision to grant him a visa have added to diplomatic sensitivities between the two governments.

Rubio, Brazil foreign minister plan fresh meeting

The proposed meeting between Rubio and Vieira could offer both sides an opportunity to address a series of disputes that have strained relations in recent months.

Vieira attended the G20 foreign ministers' gathering in Atlanta, where he and Rubio held a brief conversation and agreed to meet again in the coming weeks, a source familiar with the plans said.

Rubio told reporters that the two were also expected to meet in France next month during a G7 foreign ministers' summit. Brazil is expected to participate in the meeting as an observer.

The diplomatic friction has included the Trump administration's decision in August to revoke the visa of Brazil's ambassador in Washington, as well as its decision to issue a visa to Flavio Bolsonaro after his election defeat.

The two countries have also faced disagreement over Brazil's failure to approve Trump's nominee for ambassador to Brasilia.

A Brazilian official sought to play down the tensions surrounding the senator's departure and Lula's election victory. "We're clearly not politicizing the issue, as we haven't in other situations regarding Brazilian citizens who have fled to the US," the official said.

The planned contacts between Rubio and Vieira come as both governments appear to be seeking a way forward despite their differences over the political developments in Brazil.