"Our relations today are on an equal footing," Muallem told a press conference after meeting with Lebanese President Michel Sleiman on the first such visit by a high-ranking Syrian official in more than three years.
"There is a new consensus president (in Lebanon) who has trustworthy ties with Syrian President Bashar al-Assad, and this can help resolve a lot of oustanding issues," he added.
Lebanon and Syria said earlier this month that they had agreed to establish diplomatic relations and planned to open embassies in both capitals for the first time since independence from French colonial rule more than 60 years ago.
Muallem during his hours-long visit handed an invitation to Sleiman from his Syrian counterpart to travel to Damascus, a trip the Lebanese press said would take place within a week or 10 days.
The two men also discussed the issue of the Israeli-occupied Shebaa Farms, the delineation of the border between both countries and the fate of hundreds of Lebanese who vanished during Syria's rule in Lebanon.
"There is nothing to prevent the demarcation of the borders but we must take into account the fact that many Syrian and Lebanese villages are intertwined and whether this would harm residents," Muallem said. "Still, if we must delineate the border, we are ready."
He added that placing the disputed Shebaa Farms in southern Lebanon under UN administration would in no way signify an end to Israel's occupation of that area.
The Shebaa Farms, a mountainous sliver of land rich in water resources measuring 25 square kilometres (10 square miles), are located at the junction of southeast Lebanon, southwest Syria and northern Israel.
Israel seized the Farms from Syria in the 1967 Middle East war when it captured the neighbouring Golan Heights which it later annexed.
Ever since, the Farms have been caught in a tug-of-war over ownership.
Lebanon claims them, with the backing of Damascus, while Israel says they are part of Syria.
On the missing Lebanese, Muallem said a committee set up to deal with the issue was advancing in its work but more time was needed before a final resolution.
"Those who have waited more than 30 years since the start of the (Lebanese) civil war can wait another few weeks," he said, referring to families of the disappeared and rights groups pressing for answers about their fate.
Families of the missing and supporters organised a protest along the road leading from Beirut airport to the presidential palace to coincide with the Syrian minister's visit.
Druze leader Walid Jumblatt, a member of the anti-Syrian majority in parliament, said he hoped Muallem's comments were not just "empty promises".
"The minimum acceptable would be to cancel the Syrian-Lebanese Higher Council as well as unfair accords involving Lebanon that must be reconsidered from scratch," Jumblatt said in a statement as the foreign minister left.
The council was born from a 1991 "friendship and cooperation" treaty which effectively formalised Syria's role as powerbroker in Lebanon.
Syria withdrew its troops in 2005 in the aftermath of the assassination of former Lebanese premier Rafiq Hariri, ending a military presence of nearly three decades.
Damascus denies it was behind the Beirut bomb blast that killed Hariri and has protested at plans for a UN tribunal to try suspects in the murder.
Sleiman was elected president and a new unity government formed under a May deal between the ruling majority and the Damascus-backed opposition to end a drawn-out political crisis that boiled over into deadly violence.
The plans to establish ties were announced at a summit in Paris on July 13 that marked Assad's return to the international stage after several years of diplomatic isolation over the Hariri assassination.
