Mr Zelensky had sought the meeting with Trump to pitch his “Victory Plan” for Ukraine ahead of the election.
“We have a very good relationship, and I also have a very good relationship, as you know, with President Putin. And I think if we win, we’re going to get it resolved very quickly,” Trump told reporters ahead of the talks.
Mr Zelensky interrupted, saying: “I hope we have more good relations between us.”
“Oh, I see,” Trump continued. “It takes two to tango, you know, and we will – we’re going to have a good meeting today. And I think the fact that we’re even together today is a very good sign.”
Friday’s surprise meeting was announced amid public squabbling between the pair.
Trump has regularly criticised Mr Zelensky on the campaign trail in recent weeks.
On Wednesday, Trump said that the Ukrainian leader “refuses to make a deal” with Vladimir Putin, and that the country had been “demolished” because of that refusal to negotiate.