Zbigniew Bogucki added that Ukraine "owes Poland a debt of gratitude and respect" for its support since Russia’s full-scale invasion, Polish state news agency PAP reported.
His remarks came a day after Zelensky said he would be "glad to meet" with Nawrocki.
The Ukrainian president said on Monday he had invited his Polish counterpart to Kyiv and would himself visit Poland if invited by the Polish head of state.
"Ukraine respects Poland and is grateful to Poland for having received our people, for helping and supporting us," Zelensky told reporters.
Nawrocki's foreign policy aide, Marcin Przydacz, said on Monday that both sides were working through "open and active" diplomatic channels to arrange a meeting between the two presidents.
Bogucki wrote on X on Tuesday that the Polish president "hopes Volodymyr Zelensky will visit him in Warsaw" to discuss "issues that Poland needs to settle with Ukraine."
He said Nawrocki believes "Poland is fully meeting its obligations as an ally" and expects "symmetry in relations" between the two neighbours.
"When we analyse hundreds of thousands of donations—from humanitarian aid to military equipment and ammunition—we see an enormous effort by the Polish nation," Bogucki said.
He added that Nawrocki hopes Zelensky "will respect this effort" and "be open to Polish proposals," while also "expressing gratitude to Polish soldiers, citizens and the state."
Nawrocki told Do Rzeczy magazine in November that he wanted Zelensky to visit him in the Polish capital, saying he hoped the Ukrainian leader would thank Poles for their support and "bring the good news about the Volhynia exhumations that we are waiting for."
Ukraine's ambassador to Poland, Vasyl Bodnar, said in October that Kyiv had proposed several possible dates for a Polish presidential visit to Ukraine and had received "no negative response."
(pm/gs)
Source: PAP
Click on the audio player above to hear a report by Marcin Matuszewski.