The meeting at the United Nations General Assembly was their second this year.
VIDEO| The pope warned Cubans to beware the dangers of ideology and the lure of selfishness.
The new rules will make it easier for U.S. businesses to have a presence on Cuba.
"Decisions on internal matters are not negotiable," Cuba's director of U.S. affairs said.
Obama can go only so far in his executive actions to normalize the relationship.
Rubio said Obama's Cuba policy is sending a "demoralizing message" to dissidents.
A protestor drenched himself in red paint to symbolize the blood of Cubans.
The move appears too politically difficult for some GOP critics.
Remarks about normalizing relations come amid comparable moves by Obama on Cuba.
Cuba's government says the two countries will open their embassies on July 20.
The 2016 contender wants to keep dollars out of "the hands of the Cuban military."
GOP spending bills include provisions that could lead to a White House standoff later this year.
The two will likely cross paths at the U.N. General Assembly next week.
The pope is set to address a joint session of Congress on Wednesday.
It will be Castro's first visit as president of Cuba.
For first time since 1961, U.S. flag was raised in Havana.
Rubio said a decision not to invite dissidents to embassy ceremony is "pathetic."
Kerry said "Cuba has strong feelings about it" but it was "not part of the discussion."
The Florida rep. believes Cuba must improve its human rights before receiving warmer ties with the...
Obama will need lawmakers to approve an ambassador and provide funds for an embassy.
The Republican presidential hopeful said Jerusalem should have a U.S. embassy before Havana.
The bank is a fount of cronyism, serving the interests of major corporations here and abroad.
It's the latest effort to undermine Obama's move to normalize relations.
Presidential visit could come before he leaves office.