Cuba has demanded the US hand back the Guantanamo Bay military base before relations with Washington are normalised.
In a speech, President Raul Castro also called for the lifting of the US trade embargo and Cuba's removal from a terror list.
Last month the two countries announced a thaw in relations, agreeing to restore diplomatic ties. They were severed in 1961.
High-level talks were held last week.
A Congressional delegation arrived in Havana to begin negotiations aimed at reopening embassies in the two countries' capitals.
Meanwhile, former Cuban leader Fidel Castro appeared to signal his approval for the political rapprochement.