Trump publicly split with Esper in recent months over a range of issues.
A report by the news company claimed three officials were cited as saying he had prepared a resignation letter, but were later rebuffed by another report.
Meeting comes a week after Gantz flew to Washington where the two signed a deal securing Israel’s QME.
Both Gantz and Esper delivered remarks on the importance of the meeting.
He added that "while we combat the coronavirus pandemic, we need to remember that our enemies will not rest for one moment."
"So many... countries in the region recognize that the biggest concern they have... is Iran and its maligned behavior," he said • Craft responding to Zarif: "You can't have it both ways"
He added, however, that South Korea and the United States must find a more equitable way of sharing defense costs so it "doesn't fall unequally on the American taxpayers."
He emphasized that Israel's defense system backs and appreciates the US's policy of pressure on Iran on the international front, while being in close cooperation with Israel on the subject.
It was unclear if Esper's trip would be contingent upon securing special travel waivers given the impact of the coronavirus pandemic, which has strained already fraught US-China relations.
Gantz, who served as Defense Attache to the United States and Chief of Staff of the IDF, highlighted the strategic and steadfast defense relationship between the two countries.