Zuma arrived in the middle of alliance partner Sanco's message of support with Kenyan President Uhuru Kenyatta.
President Kenyatta also said there is need for political parties of the two countries to work together and enable the people to interact and do business.
President Kenyatta on Thursday morning left the country for a three-day official tour to South Africa.
Zuma and Kenyatta then told journalists that they had discussed a number of issues, which included deepening and strengthening relationships between the countries.More news: Warren Buffett says cryptocurrencies will have "bad ending"
"[Today's visit] has laid the groundwork for my state visit, which should be sometime in the first quarter of this year, where we hope to conclude some very strong agreements of mutual benefit", Kenyatta said.
President Kenyatta will utilize the meeting at his villa to congratulate Ramaphosa for winning a competitive race for the leadership position of the African National Congress (ANC) presidency, and appraise him of key bilateral issues, including immigration.
"By modernising agricultural production and developing a substantial pool of skills, we would not only improve food security, but also develop agro-processing, the manufacture of agricultural inputs and increase exports", said the ANC President.
President Uhuru Kenyatta Saturday attended a colourful event to celebrate South Africa ruling party's 106th birthday.More news: IED defused by Bomb Squad near Srinagar
"I am happy to participate in the ANC birthday celebrations".
He said the message of unity that Ramaphosa has been delivering is one that resonates well, not only with South Africans but also with other parties on the African continent.
The two leaders also spoke of the challenges being faced on the continent, particularly in South Sudan and how its civil war was being managed by the Intergovernmental Authority on Development, a regional bloc that negotiated a ceasefire between the young country's warring factions in December.
They pinpointed trade and infrastructure as the pillars that would emphasize the relationship between Kenya and South Africa.More news: Active Volume Stock: Novavax, Inc. (NASDAQ:NVAX)