It was the first meeting between any Australian and Chinese minister in more than two years with the relationship having been in a deep freeze since Australia called for an investigation into the origins of COVID which triggered several trade disputes.
"I don't want to overstate what's occurred. It was literally nothing more than handshake," Mr Marles, who is also Australia's deputy prime minister, told Sky News' Sunday Agenda program.
"There's been no opportunity to have a proper conversation."
But speaking from Singapore where he is attending the Shangri-La Dialogue, Mr Marles said the gathering still has a day to go.
"So it''s possible that interaction may occur," he said.
"This is a place where dialogue can occur which is very important."
He said his government has been very clear it wants to go about its international relations in a way that is "sober, professional and based on respect" which is important during complex times.
"The more complex the times, the more important there is dialogue and proper diplomacy," he said.
But he said Australia won't shy way from articulating issues that are in its national interest, making sure that the global rules based order is upheld.
His comments came a week after it emerged there had been a dangerous incident between an Australian maritime surveillance aircraft and a Chinese fighter plane over the international waters of South China Sea last month.