On Thursday, Duterte said he had explained to Japanese Prime Minister Shinzo Abe on Wednesday just why he resented the United States, reiterating that Washington treated the Philippines like "dogs on a leash" and lectured about human rights in connection with his domestic campaign against drugs.
President Duterte's visit to Japan coincides with jitters about his foreign policy after weeks of verbal attacks on the United States, including threats to end military agreements, and overtures towards China.
Duterte last week announced in China his "separation" from the United States, but then insisted ties were not being severed and that he was merely pursuing an independent foreign policy.
"Joint exercise with Japan in general terms is not a problem. Stationing of Japanese troops was not discussed and with the Americans, it's problematic," Duterte told reporters one day after saying he wanted foreign troops out of his country "maybe in the next two years".
"I don't want to embarrass my defence secretary but the exercises with the Americans will be the last," he said.
Duterte, on the final day of a three-day visit to Japan, made the comments after watching Japan Coast Guard activities in the port of Yokohama, near Tokyo.
Duterte's recent comments pose a headache for Abe, who has tightened ties with Washington while building closer security relations with Manila and other Southeast Asian countries as a counter-weight to a rising China, which has maritime feuds with several countries in the region including Japan.
In their Wednesday talks, Duterte and Abe agreed on the importance of settling maritime disputes peacefully.
Philippine Finance Secretary Carlos Dominguez told Reuters his country was still a good place for foreign investment and that the Philippines would welcome investment from the United States though it was particularly interested in trade agreements with Asian neighbours.
