ATHENS, Greece — After years of tensions between Greece and Turkey, the countries’ leaders signed a “declaration on friendly relations and good neighborliness” Thursday in what they described as a bid to set the two neighboring, rival nations on a more constructive path.

The eventual goal, they said, was to resolve long-standing differences that in recent decades have brought them to the brink of military conflict.

Greek Prime Minister Kyriakos Mitsotakis and Turkish President Recep Tayyip Erdogan signed the declaration as Erdogan made his first visit to Athens in six years. Although the pact is not legally binding, it is historically significant — previous Greek leaders have tried but failed to achieve it — and carries strong symbolism.

Top officials from both countries were also engaged in talks on issues including migration, energy, tourism and trade. The two leaders said their aim was to double annual trade between their countries to $10 billion.

Erdogan appeared relaxed in a televised exchange with his Greek counterpart, President Katerina Sakellaropoulou. Greek television also showed Mitsotakis and Erdogan engaged in an unusually cordial handshake before ascending the steps of the prime minister’s mansion for talks.