World Cup jibes as Dutch king welcomes German president on state visit

German President Frank-Walter Steinmeier was received by Dutch King Willem-Alexander on Tuesday, with both sides alluding to the countries' fierce football rivalry ahead of the upcoming World Cup.

Steinmeier began his three-day state visit to the Netherlands with his wife Elke Bündenbender, being welcomed with military honours and a 21-gun salute.

The trip is the first by a German president to the Netherlands in 19 years. 

Willem-Alexander - whose father Claus von Amsberg was German - told Steinmeier that Germany is one of the "cornerstones for the economy, science and democracy in Europe and the whole world," praising the country's "resilience and capacity for innovation."

"Germany sometimes underestimates itself. We do not do that - including in football," he added, in reference to the upcoming World Cup in North America.

The football rivalry between the Netherlands and Germany goes back to the 1974 World Cup final, when West Germany defeated a heavily favoured Dutch side featuring Johan Cruyff 2-1. 

Steinmeier also touted the strong ties between the two countries off the pitch.

"The Netherlands and Germany are like a couple who simply belong together," he said. "One always knows exactly what the other is thinking, and together they usually make a good team."

"Except, of course, when it comes to football," he added.