The joint communique, which had been delayed from Saturday, said concerns were voiced by some members about "land reclamations and activities in the area which have eroded trust and confidence, increased tension and may undermine peace, security and stability". North Korea is in violation of global law and of U.N. Security Council resolutions by conducting the tests.
"China and Asean have to work together to maintain regional peace and stability, and we will work out regional rules that were mutually agreed upon so as to open a bright future for our future relations", he added.
Also on the sidelines of the meeting, the Philippines was trying to release a statement suggesting it does not want US involvement in dealing with territorial disputes in the South China Sea, a draft copy has shown.
Meanwhile, Thai Foreign Ministry spokesperson Busadee Santipitaks said the foreign ministers of the 10 nations on Saturday reviewed the success that Asean has achieved. The top diplomats from all those nations are in Manila for the ASEAN Regional Forum, an annual security forum, which begins on Monday.
The ministers failed to release a customary joint statement after meeting on Saturday due to their differences on the sea issue, and follow-up negotiations on Sunday did not end the stand-off, two diplomats involved in the talks said.
Both sanctions against North Korea's nuclear and missile programmes and resumption of the six-party talks are important and neither should be neglected, Chinese Foreign Minister Wang Yi said on Sunday. The first refers to North Korea's repeated tests of its ballistic missiles, which it claims can now reach most of the United States mainland.
Even as the top U.S. diplomat seeks to ratchet up the pressure, he threw an olive branch to North Korea during remarks to the press on Tuesday: "We hope that at some point, they will begin to understand that and that we would like to sit and have a dialogue with them about the future that will give them the security they seek", he said.
They committed to strengthening bilateral collaboration for the faithful implementation of United Nations sanctions, the ministry said.
China has urged calm and restraint from all countries involved in the standoff.
The issue was also likely to top the agenda when ASEAN ministers meet with their dialogue partners, including the United States, Japan, China and Russian Federation for Asia's largest security forum on Monday.
The ministers cited acts that violate the Declaration on the Conduct of Parties in the South China Sea (DOC), which was signed in 2002.
Southeast Asian officials were still trying to reach consensus on a customary communiqué that was supposed to have been released on Saturday, reflecting differences about how to address disputes involving Beijing in the South China Sea.
Asean has long held the position that the COC must be legally binding, but China opposes this.
The two-page framework document contains a provision stating that it is not an instrument to settle territorial disputes or maritime delimitation issues.
The Philippines brought its dispute with China to arbitration in 2013 and a Hague-based court ruled in 2016 that China's nine-dash-line claim has no basis in worldwide law.