WATCH NOW: China specialist explains why the country 'is a threat'
However, the US president didn't press China for reassurance on the safety and security of Taiwan or the 200 Americans illegally being held prisoner.
"Xi got exactly what he wanted from this visit - pictures of San Francisco streets drenched in red and a warm, public greeting from Biden," Steel wrote in an Op-Ed for Fox News.
"What did we get in return? Pandas restored to US zoos seems to be the only deliverable.
"We certainly did not receive any reassurance on the safety and security of Taiwan. In fact, per officials in the room, Xi made clear that he fully intends to reunify Taiwan to China, by force if necessary."