The United Nations’ specialized agency removed Beijing’s so-called map shortly after flows of protests made by Vietnamese officials and netizens, including many from Hanoi.
Vietnam requires no recurrence from Beijing in the future.
Washington said it is taking additional actions to defend sovereignty rights and interests of ASEAN member countries who are claimants in the South China Sea (called East Sea by Vietnam) dispute.
ASEAN foreign ministers' first-time statement stresses the importance of multilateralism.
Hanoi should set a vision to compete with other capital cities in the world such as Beijing, Bangkok, or Kuala Lumpur, said Prime Minister Nguyen Xuan Phuc.
Vietnam urged China to refrain from further complicating the situation and not to expand disputes in the South China Sea.
The US Navy said the presence of two carriers in the South China Sea is part of regular integration to exercise and develop tactical interoperability.
Beijing has voiced objection after Washington blamed Beijing of using intimidation to undermine the sovereign rights of Southeast Asian coastal states in the South China Sea.
Washington said the world will not allow Beijing to treat the South China Sea as its maritime empire.
On May 4, the Vietnam Fishing Society protested the ban that it called absurd.