A top UN official told senior North Korean figures there was an "urgent need" to keep channels open to avoid the risk of war, the organisation says.
The statement follows a visit to Pyongyang by Jeffrey Feltman, the highest-level trip by a UN official to the isolated nation in six years.
North Korea says it has agreed to regular communication with the UN.
Tensions over the North's weapons programme were raised further after a fresh ballistic missile test last week.
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