Speaking at a weekly press briefing in Islamabad on Thursday, he said ties with the Taliban administration would not return to normal as long as the group continues to support and shelter militants opposed to Pakistan.
He said Pakistan cannot tolerate militant activity or attacks originating from Afghan soil, adding that while people in both countries seek peace, Taliban support for militants is undermining stability.
He said militants in Afghanistan enjoy a safe environment and support from local networks and the Taliban administration.
Andrabi added that there are no major differences between the people of the two countries, noting shared religion, ethnicity and aspirations for peace.
He said the two countries share religious, ethnic and cultural ties and a mutual desire for peace but added that militant attacks originating from Afghan territory have slowed progress in improving relations.
He stressed that unless the Taliban regime in Kabul recognises the seriousness of the issue and acts to contain the threat, it will continue to hinder relations.
The spokesperson said the root cause of tensions is the use of Afghan territory for attacks against Pakistan.
He added that it is crucial for the Taliban to adopt zero tolerance towards any militant activity targeting Pakistan from Afghanistan.
Andrabi said if the Taliban commit in writing to preventing such attacks, the rest of the issues will be resolved.
A written commitment has been one of the main sticking points in talks held in Qatar, Turkiye and Saudi Arabia. Pakistan has sought verifiable guarantees, while the Taliban say they cannot sign such an agreement.
He also said border closures and other problems stem from the use of Afghan soil for militant attacks.
The border between Afghanistan and Pakistan remains fully closed, with trade and transit disrupted. Pakistan is seeking alternative routes to Central Asia, while the Taliban are sourcing goods from India, Iran and Central Asia. Pakistan has also halted visa issuance for Afghan citizens.