"The US government and the government of Iraq are in agreement that we, the US government, we want to withdraw, we will withdraw. However, that decision will be conditions-based," State Department spokesman Gonzalo Gallegos said.
Iraq said on Tuesday it will reject any security pact with the United States unless it sets a date for the pullout of US-led troops.
"We will not accept any memorandum of understanding if it does not give a specific date for a complete withdrawal of foreign troops," national security advisor Muwaffaq al-Rubaie told reporters in the holy city of Najaf.
The controversial demand from Baghdad's Shiite-led government underlines Iraq's new hardened stand in complex negotiations aimed at striking a security deal with Washington.