Zuma made the remarks upon his return to South Africa on Thursday night after attending the summit in Washington, the presidency said in a statement to Xinhua on Friday.
Zuma joined other African heads of state and government in the first summit between Africa and the US to discuss matters relating to boosting trade and investments as well as cooperation on matters of peace, security and governance.
"There was a good relationship already between Africa and the US, but this summit has reshaped it and has taken it to another level," Zuma said.
Zuma also welcomed the indication of support for the African peacekeeping and peace-making mechanisms.
"We secured a buy-in from the US for Africa's peace and security initiatives, including support for capacitation of the African Standby Force," said Zuma.
The president also welcomed the Mandela Washington Leadership youth initiative established by President Barack Obama which takes African youth to the US for training and leadership mentoring.
However, Zuma said, this programme also needed to have the participation of Africa.
"There should be a way of involving us in the management of this programme so that there is co-ownership of this important leadership process," he said.