The president made the remark during his meeting with US Special Representative for Pakistan and Afghanistan, Ambassador Marc Grossman, who called on him here Monday.
President's spokesperson Farhatullah Babar said Pakistan-US bilateral relations, the war against militants and the regional situation with special reference to Afghanistan were discussed during the meeting.
Ties between Islamabad and Washington were considerably strained following the May 2 killing of Osama bin Laden in Abbottabad city. The daring raid by US commandos had been carried out without informing Pakistan, which left the establishment red-faced.
Babar quoted Zardari as saying that in the absence of well-defined and documented terms of engagements, wrong plugs may be pulled at the wrong times by any side that could undermine the bilateral relations, Associated Press of Pakistan reported.
The president said that terms of engagement should be clearly defined and specified so that any dispute could be settled amicably through the available institutions.
Babar said the president also emphasised that a long-term, sustainable and multi-dimensional relationship with the US should be based on mutual interest, trust and mutual respect.
He said Pakistan had rendered unparalleled sacrifices in its struggle against terror and was determined to continue this fight till its logical conclusion.