U.S. Secretary of State Rex Tillerson said on Sunday it was time for Iranian-backed militias and their Iranian advisers who helped Iraq defeat Islamic State to "go home," after a rare joint meeting with the leaders of Iraq and Saudi Arabia.

The United States is concerned that Iran, a Shiite regional power, will take advantage of gains against IS in Iraq and Syria to expand the influence it gained after the U.S. invasion in 2003, something Sunni Arab rivals such as Riyadh also oppose.

"Iranian militias that are in Iraq, now that the fight against Daesh and ISIS is coming to a close, those militias need to go home. The foreign fighters in Iraq need to go home and allow the Iraqi people to regain control," Tillerson said at a joint news conference with Saudi Foreign Minister Adel Jubeir.