(CNN) - President Barack Obama and Republican presidential nominee Mitt Romney spoke separately with Israeli Prime Minister Benjamin Netanyahu by telephone on Friday, the day after the Israeli leader publicly urged the international community to draw a "clear red line" with Iran over its suspected nuclear development program.
The White House released a statement on the president's phone call shortly after 1 p.m. ET. Obama's call with Netanyahu was more than 20 minutes, according to a senior administration official.
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Romney spoke with the Israeli leader while in his motorcade, which was parked at the Philadelphia International Airport, around 1:30 p.m. ET, according to his campaign's traveling press secretary Rick Gorka.
A statement from the White House on the president's phone call said, "The two leaders underscored that they are in full agreement on the shared goal of preventing Iran from obtaining a nuclear weapon."
"The Prime Minister welcomed President Obama's commitment before the United Nations General Assembly to do what we must to achieve that goal," the statement continued, referencing Obama's Tuesday address to the UNGA. "The two leaders took note of the close cooperation and coordination between the Governments of the United States and Israel regarding the threat posed by Iran – its nuclear program, proliferation, and support for terrorism – and agreed to continue their regular consultations on this issue going forward."
Romney told reporters after the call that the two "spoke about his assessment of where the red line ought to be drawn and my own views with regards to Iran." When asked if there was any difference between where he and Netanyahu would draw the red line, Romney said, "We did not go into enough, into the kind of detail, that would define precisely where that red line would be."
The candidate stated his belief that "there is a strategy that would lead us to preventing Iran from developing nuclear capability."
"I do not believe that in the final analysis we will have to use military action. I certainly hope we don't have to," he said. "I can't take that option off the table – it must be something which is known by the Iranians as a possible tool to be employed to prevent them from becoming nuclear. But I certainly hope that we can prevent any military action from having to be taken."
Romney said he and Netanyahu talked about their last meeting, when Romney visited Israel, Great Britain, and Poland on an international trip this summer.
He said Obama had "moved over time" regarding his position on Iran, saying, "his words more recently are more consistent with the words I've been speaking for some time."
At his United Nations speech on Tuesday, Obama told world leaders "the United States will do what we must to prevent Iran from obtaining a nuclear weapon" and that a nuclear-armed Iran "is not a challenge that can be contained."
In his separate address, Netanyahu holding up a simple graphic of a bomb with a lit fuse used a red marker to draw a red line representing the point "before Iran completes the second stage of nuclear enrichment to make a bomb."
Obama drew criticism earlier this week, especially from Romney, over his comments about tension between Israel and Iran. In a "60 Minutes" interview that aired on Sunday, Obama was asked if he felt pressure from Israel to change his policy and draw a line in the sand when it comes to Iran's nuclear program.
"When it comes to our national security decisions, any pressure that I feel is simply to do what's right for the American people, and I am going to block out any noise that's out there," said Obama.
"Now I feel an obligation – not pressure but obligation – to make sure that we're in close consultation with the Israelis on these issues because it affects them deeply," he continued. "They're one of our closest allies in the region and we've got an Iranian regime that has said horrible things that directly threaten Israel's existence."
Romney's campaign quickly pounced, releasing a statement the same night saying Obama's "noise" comment was "the latest evidence of his chronic disregard for the security of our closest ally in the Middle East."
Critics also pounded Obama for not meeting in person with world leaders, including Netanyahu, while in New York for his U.N. speech this week. However, Obama did meet with President Abdu Rabu Mansour Hadi of Yemen Tuesday when he dropped by a meeting between Hadi and John Brennan, the homeland security and counterterrorism adviser to Obama.
Hadi also visited the White House on Thursday, but a senior administration official said the two presidents did not meet in person, CNN reported.
Netanyahu has ramped up his criticism in recent weeks of the international community's response to Iran, saying current targeted sanctions and diplomatic efforts are not enough. When he met with Romney in Israel in late July, Netanyahu said actions thus far have not "set back the Iranian program by one iota."
Obama and Netanyahu held a rare, hour-long phone conversation two weeks ago, as "part of their ongoing consultations," the White House said. The call followed reports that the White House had rejected a request by Netanyahu to meet with Obama this month to discuss Iran's nuclear program–reports that the White House strongly denied.
While Romney insists his Iran policy stands in stark contrast to that of Obama, Romney earlier this month conceded a rare comparison between himself and his opponent, saying the two would draw the same "red line" on nuclear weapons in Iran.
"My red line is Iran may not have a nuclear weapon. It is inappropriate for them to have the capacity to terrorize the world," Romney said on September 14 on ABC's "Good Morning America."
"Iran as a nuclear nation is unacceptable to the United States of America," Romney added.
The president has used almost identical language to describe the situation in Iran. When asked if the two would have the same "red line" going forward, Romney said "yes."
"And recognize that when one says that it's unacceptable to the United States of America that that means what it says. You'll take any action necessary to prevent that development, which is Iran becoming nuclear," Romney said.
– CNN's Ashley Killough, Rachel Streitfeld, Michael Martinez, Dan Lothian, and Dana Davidsen contributed to this report