The president met with his counterpart at his official residence Mahlamba Ndlofu in Pretoria, according to a statement released by the Presidency.
Zuma was briefed by Kiir on issues of the political and security situation on the continent.
The two also discussed political and economic relations between the two countries.
Zuma was involved in South Sudanese peace talks for a number of years.
In 2014 President Zuma appointed Deputy President Cyril Ramaphosa as the Special Envoy to South Sudan to assist with the resolution of the political impasse in that country.
Speculations are high that president Kiir may hold secret talks with exiled opposition leader Riek Machar while in his stay in South Africa.
This comes in the wake of calls to release Machar from confinement in South Africa by a group of peace activists in South Sudan.
They insist the exiled leader must be part of the revitalization talks going on right now. “Dr. Riek Machar was a key stakeholder of the agreement (ARCISS). He must be set free and allowed to participate directly in the revitalization forum in February 2018 when peace talks resume,” the group, Senior Youth of South Sudan (SEYOSS), said in the statement.
“Riek Machar must be present in person on the negotiation table. Unless or until this revitalization forum is inclusive of all stakeholders otherwise it is dead on arrival,” adds the statement.
In their appeal, the group of youth also called upon the nine South Sudanese opposition leaders who earlier demanded for Machar’s release to boycott the second phase of the revitalization forum in February 2018 if their calls are ignored by the regional bloc (IGAD).
The group of peace activists says its regrets the suffering four years of civil war has inflicted on the people of South Sudan
South Sudan president, Salva Kiir, is being hosted by President Jacob Zuma in Pretoria.