"Our aim is to lift the pressure of sanctions from the shoulders of our people," Rouhani said in televised remarks during a weekly cabinet meeting.
"Wherever this favorable opportunity arises, we will act on our responsibilities. No one should miss any opportunity."
"National security and national interests are not factional and partisan issues," Rouhani added, after conservatives criticized his coalition government for possible reengagement with the next US administration within the framework of a 2015 nuclear deal between Iran and world powers.
While the outgoing Trump has sought to isolate Iran globally, President-elect Biden has proposed to offer Iran a "credible path back to diplomacy".
Decades-old tensions between Tehran and Washington escalated after Trump unilaterally withdrew the US from the landmark Iran nuclear deal in 2018 and reimposed, then reinforced, tough sanctions under a “maximum pressure” campaign.
“Returning to the [nuclear deal] and a commitment without conditions to all its requirements is a step that can be taken to correct US policies,” he said.
Rouhani acknowledged Biden's conciliatory remarks during his campaign but said Iran was prepared for sanctions to remain in place.
"They can choose a new path. And if they do not want to, it is their choice," he told the cabinet.
“This is up to them. If they implement their responsibilities, they can choose a new path,” the president added.
Rouhani noted that his government had devised its policies on the assumption that Trump would stay in office.
“The policies of the Islamic Republic of Iran are very clear, based on peace and stability in the region, respecting the rights of nations, not infringing or interfering in countries’ internal affairs, combating terrorism, ending unilateralism, and adhering to accords and constructive cooperation.”
Trump ‘abjectly struck down’
Rouhani also said the Trump administration has been “abjectly struck down” by its own people in the 2020 US election.
He said Trump was goaded into abandoning the Iran nuclear deal “with childish and delusional conceptions”.
“The regime that dreamt of the Iranian establishment’s downfall has been itself abjectly struck down, and today all countries – except the few that have always followed the regime – see different circumstances in front of them,” Rouhani said.
The president said the end of the Trump administration signals the removal of an “intrusive factor” that will allow the region to better focus on its interests and for Iran to have better relations with its neighbors.
Earlier this week, Iranian Foreign Minister Mohammad Javad Zarif said in a tweet that “Trump’s gone in 70 days but we’ll remain here forever” in a message to Iran’s neighbors to stop “betting on outsiders” and turn to dialogue to resolve issues.
A day before his cabinet speech, President Rouhani addressed a virtual meeting of the member states of the Shanghai Cooperation Organization and blasted the United States.
He said the Trump administration’s “bullying” approach in the past few years posed a serious threat to economic and political multilateralism.
“The results of the US elections showed that not only the world is opposed to the incorrect policies of the current US administration, but the American people have had enough as well,” said Rouhani.
Rouhani said this shows the foreign policy of a country that always resorts to threats and sanctions has “certainly lost its way”.
AFP and Al Jazeera contributed to this story.