More than two dozen ministers from both nations met in Canberra on Friday to discuss security and economic co-operation.
Changes to visa processing, including the ability to complete Australian visa paperwork in Port Moresby, were touted as one key to improve people-to-people relationships.
"This will allow Papua New Guineans to have direct access to apply for a visa to Australia," PNG Foreign Minister Justin Tkatchenko said.
A draft security agreement was been exchanged, with a deal to be inked by April.
"This is not just about the security in respect to policing and defence," Mr Tkatchenko said.
"It's also about many other security issues - climate change, biosecurity, gender equality and economic security as well."
Australian Foreign Minister Penny Wong said it was important to focus on PNG's autonomy and independence as "economic security ensures national security, ensures regional security".
"We seek that this be the next stage to a partnership that is close, open, honest and ensures that we work together to enable PNG to achieve its aspirations," she said.
Mr Tkatchenko agreed PNG needed to remain politically and economically independent.
"A secure and prosperous Papua New Guinea is a secure and prosperous Australia as well," he said.
"There's always room for helping one another, especially when we have a situation where our region is changing."
PNG's vice-trade minister Kessy Sawang said the two nations needed to re-evaluate their relationship and focus on personal ties.
"Most of our relationships are based on our colonial past and the war," she told AAP.
"We need a new level of people-to-people relationship, rather than government-to-government and aid and diplomacy."
Ms Sawang praised a scholarship provided by the Australian government to Papua New Guineans study abroad.
"You have some of the world's best standards of education here," she said.
"That will pave the way for a new relationship between Papua New Guinea and Australia that is based on people-to-people connections."
Senator Wong will travel to Fiji next week for a Pacific Islands Forum meeting, visiting Kiriabti while away.
The minister and her PNG counterpart promised to use the forum to strengthen regional security and economic ties against the backdrop of China's rise.
Senator Wong also encouraged consultation and transparency as Japan works with the regional body on plans to release water from a nuclear power plant into the ocean.
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