"If Pakistan wants then talks can be held again", Rajnath told media-persons.
"We want better relations with our neighbours but we should be capable enough to respond when needed. You can change your friends, but not your neighbours", he added.
Rajnath Singh also addressed BSF troopers and marine commandos. He assured them more facilities to man the border with Pakistan.
Earlier in the day, Pakistan High Commissioner to India Abdul Basit said that both the countries should make a new beginning.
Basit made remarks during an 'Alishan Pakistan Expo' in Pragati Maidan in New Delhi.
On Monday, Rajnath Singh had said, "No dialogue is possible unless Pakistan stops terrorism and violence."