"We want to ensure the security of critical sea lanes and fishing grounds and to see that disputes in the area are managed peacefully and on the basis of international law," Kerry said during a meeting with his ASEAN counterparts, according to local media.
The United States shares with ASEAN the desire for peace and stability in the South China Sea, Kerry said.
Kerry also touched upon the apparent arms race, caused by territorial disputes, in the region during his interaction with Wang.
Speaking to the press after the meeting, Wang reiterated China's commitment to resolve all territorial disputes through dialogue with concerned nations.
China considers a large chunk of South China Sea to be an integral part of its territory and claims anything that takes place within the region is an internal matter.
China, Vietnam and Taiwan are embroiled in territorial disputes over Paracel Islands.
These three countries are joined by Brunei, Philippines and Malaysia in their claims over Spratly Islands.
Construction of structures, including aerodromes, permanent settlements and artificial islands, in Spratly has increased tension in the region.
Recent satellite images show China is on the verge of completing a landing strip where even its military aircrafts will be able to land.
China claims they are not the only ones involved in constructions in Spratly.
Kerry is on Kuala Lumpur to participate in the ASEAN Regional Forum, which includes matters related to security, and bilateral and multilateral meetings between the countries.