The ministers said they needed to know details of the US president-elect's plans but said they expected good ties.
The talks took place at a dinner in Brussels on Sunday, on the eve of a formal meeting of foreign ministers.
Ministers from Britain, France and Hungary did not attend on Sunday.
"We are looking forward to a very strong partnership with the next [US] administration," EU foreign policy chief Federica Mogherini said.
"We have decided together to engage with the incoming administration even from this very first week of transition," she added.