"As president, Obama forged a close and cooperative partnership with President Xi on issues ranging from growing the global economy to combating climate change, and he looks forward to catching up with his former counterpart," Obama spokeswoman Katie Hill said ahead of the trip.
Obama kicked off his visit to China with private meetings and a summit speech last week in Shanghai.
Obama in Shanghai last week
This was the first time the two have met since Obama left office.
During their meeting at Diaoyutai State Guesthouse in Beijing, Xi made "positive remarks" about Obama's efforts to improve the Sino-US relationship during his presidency, according to Chinese state-run news agency Xinhua.
Xi also mentioned that he wants to improve communication, exchanges and cooperation and bilateral ties with the US.
The two exchanged pleasantries, though reportedly neglected to discuss the tension that surrounded the South China Sea island-building situation during Obama's last term as president.
The meetings come two weeks after Trump's controversial comments about the "out of control" trade deficit between the US and China.
Trump and Xi Jinping in Beijing
Last week, Obama also met with Indian Prime Minister Narendra Modi in New Delhi to speak at the HT Media Leadership Summit.
[Images via Baidu, Twitter]