The Foreign Ministry expressed condolences on Tuesday following the death of Pope Francis.

"In recent years, China and the Vatican have maintained constructive contact and carried out friendly exchanges," ministry spokesman Guo Jiakun said.

"China is willing to make joint efforts with the Vatican to promote the continued improvement of China-Vatican relations."

Under the pontiff, Beijing and the Vatican inked an agreement in 2018 allowing both Beijing, which severed ties with the church in 1951, and the Holy See a say in appointing bishops in an attempt to close the schism in China's 12-million-strong Catholic community.

They agreed to extend the deal again last year.

Pope Francis had expressed a desire to visit China, which he called a "great country".

"I believe that China is a promise and a hope for the church," Francis said. (AFP)