But Moslehi said there would be a chance of discussing a prisoner exchange with the U.S. once Washington makes a humanitarian gesture toward Iranians in U.S. custody similar to the one Iran made last week toward the mothers.
Tensions between Iran and the U.S. have been heightened by the U.S. effort to impose new sanctions on Iran in an effort to convince Iran to abandon its nuclear ambitions.
The mothers greeted the group exuberantly while wearing long black robes and carrying bouquets of flowers.
After the initial reunion with their mothers, the three hikers spoke to reporters and described their captivity.
Bauer said the group had a "decent relationship" with the guards and that "it's been civil."
Josh Fattal said the officials eventually allowed the Americans to have books while in confinement.
"Once we started getting books, that really helped the prison experience a lot," he said.
Shourd's mother told "GMA" last week before the moms left for Iran that she was worried about her daughter because Swiss officials told her Sarah was suffering from depression and considering a hunger strike.
The Swiss officials said Shourd was also suffering from a serious gynecological condition and Bauer had a stomach ailment, The Associated Press reported.
The Americans, all University of California-Berkeley graduates, entered northern Iraq with visas from Turkey on July 28 and planned to spend five days in the area, according to a Web site dedicated to the hikers' release.