The 'Simply Amazing' musician said that despite his past differences with Kelly, he is actually inspired by his music and considers him to be "the king" of the genre.
"I love R Kelly. He recently said that he would love to work with me, said that he's a fan of mine and that's very special to me," Songz told MTV News.
"I can't really explain how much that means to me. He's been an influencer and an idol for me for a long time. We had our differences and right now we're in a great place. No matter how well I do, [R Kelly] is the king forever in my eyes."
Kelly recently dismissed the feud between himself and Songz as well, insisting that artists should be supportive of one another and avoid fighting.
"I feel there's a lot of talented guys out there when it comes to R&B, and what I urge guys out there to do, that's coming up under me, [aiming for] longevity, is to stay away from beef," he said.
"Stay away from beef, stay true and respectful to music and to the ones that inspired you to do what you do."
Kelly confessed in June that he "broke down and cried" after meeting the late Michael Jackson.
Watch R Kelly's video for 'Happy People' below: