Lighthizer said the US views NAFTA as a "very important agreement" and said the sixth round of talks between Canada, the United States and Mexico, which concluded Monday, were a "step forward."
"Some real headway was made here," Lighthizer said. "We're committed to moving forward.'
President Donald Trump called NAFTA a job-killing "disaster" on the campaign trail and has threatened to withdraw from the 24-year-old pact if he can't get what he wants.
Lighthizer said there will be another round in Mexico in late February and said core issues are starting to be discussed.
One of the main sticking points in the latest rounds of negotiations has been the Trump administration's position on rules of origin for auto parts.
The US is calling for any new agreement to include a proviso stipulating that North American-made car parts must constitute 85 percent of new vehicles in order to avoid tariffs, with 50 percent originating in the United States.
Canada's proposal would take elements such as research and development and intellectual property into account in those calculations. Lighthizer, however, called the idea "vague."
Still, Lighthizer said the fact that Canada is willing to discuss core issues like auto parts is encouraging.
"Now they're starting to realize that we have to begin to talk. And that's a reason for guarded optimism," he said.
Lighthizer said the Trump administration's goal coming out of the negotiations is to boost the number of manufacturing jobs in the United States, either by encouraging new investment or by bringing back jobs that had moved to Mexico.
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