They received a rise averaging nearly 9% in the last financial year.
But the British Medical Association, representing the junior doctors, last year walked out of talks in which an extra 3% top-up was discussed.
It has since said it is willing to have the 35% pay rise phased in, after initially calling for it in one go, but government stands firm.
Mr Streeting told the Tony Blair Institute Future of Britain conference: “This is an important reset moment I think in the relationship between junior doctors and their government.”
Labour had been very clear in opposition the headline pay demand was unaffordable – and that “has not changed”.
Junior doctors deserved respect and being honest with them was key to that.
BMA junior doctors committee co-chairs Dr Robert Laurenson and Dr Vivek Trivedi said: “Mr Streeting has said pay restoration will be a journey: we are looking to set off.
”We thank the Secretary of State for the meeting and have agreed to meet again next week.”
